CN104042344A

CN104042344A - Robot and method of controlling the same

Info

Publication number: CN104042344A
Application number: CN201410099195.XA
Authority: CN
Inventors: 权雄; 林福万; 古瑞尔欧甘
Original assignee: Samsung Electronics Co Ltd
Current assignee: Samsung Electronics Co Ltd
Priority date: 2013-03-15
Filing date: 2014-03-17
Publication date: 2014-09-17
Anticipated expiration: 2034-03-17
Also published as: US20140277741A1; JP2014180751A; EP2777597B1; KR102188100B1; JP6415065B2; US9566709B2; EP2777597A3; EP2777597A2; CN104042344B; KR20140113209A

Abstract

The invention provides a robot and a method for controlling the same. The robot comprises a multi-tool module, which comprises a guiding tube and a plurality of tools, wherein the plurality of tools are operated when the tools and the guiding tube are interlocked with each other and diverge from the guiding tube, and the multi-tool module has a redundancy; and a controller, which can generate a control signal related with the movement of the multi-tool module in a conjunction space according to the movement command information of the ends of the plurality of tools in a work space and utilizes the redundancy to generate the control signal. The work space of the plurality of tools can be enlarged, the tasks which are impossible for the conventional tools can be performed by the robot, the required rigidity in the tool joint can be minimized, the collision possibility between the tool and the obstacles around the tool can be minimized, the required freedom degree of tools can be minimized, and the complicated tasks which cannot be carried out by conventional tools can be performed by the robot.

Description

The method of robot and this robot of control

The application requires to be submitted on March 15th, 2013 rights and interests of the 10-2013-0028308 korean patent application of Department of Intellectual Property of Korea S, and the disclosure of described korean patent application is contained in this by reference.

Technical field

Embodiments of the invention relate to a kind of method that has the robot of multiple instruments and control this robot.

Background technology

Conventionally the machinery that, utilizes electro ultrafiltration or magnetic action to make the motion similar with human motion is called as robot.Recently,, due to the development of control technology, robot (such as operating robot, house keeper robot, service robot, aviation tele-robotic and dangerous materials handling machine people for public place) has been used in various fields.These robots utilize mechanical hand to execute the task, and mechanical hand is constructed to do the motion close to the action of arm or hands based on electro-mechanical principle.

Operating robot in above-mentioned various types of robots comprises master control set and subordinate robot, master control set produces and transmits necessary signal by operator's's (being mainly doctor) manipulation, and subordinate robot carries out the required operation of operation in response to the signal receiving from master control set to patient.Master control set is connected in wire/wireless mode with subordinate robot, makes to carry out operation with remote mode.

Utilize the Minimally Invasive Surgery of existing operating robot mainly based on multiport operation (multi-port surgery), perform the operation by multiport, each multiple operating theater instruments all with the end that is attached with end-effector are placed in patient's health by multiple otch.But the example of single port operation (single-port surgery) also increases day by day recently, performs the operation by single port, multiple operating theater instruments are placed in patient's health by an otch.Single port operation has several advantages, for example, and than the shorter treatment cycle of multiport operation and at the operation vestige of performing the operation still less than multiport aspect outward appearance.But, in single port operation, the interference between operating theater instruments may occur, and due to the restriction of the work space of operating theater instruments, the scope of operation applicatory is restricted.

Summary of the invention

Therefore, an aspect of of the present present invention provides a kind of robot and controls the method for this robot, described robot comprises hold-down arm, guiding tube and multiple instrument, guiding tube is installed on hold-down arm, described multiple instrument has end-effector and diverges from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the work space of described multiple instruments can be extended, and those tasks that cannot be realized by traditional instrument control method can be performed.

Another aspect of the present invention provides a kind of robot and controls the method for this robot, described robot comprises hold-down arm, guiding tube and multiple instrument, guiding tube is installed on hold-down arm, described multiple instrument has end-effector and diverges from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the required rigidity in joint of instrument can be minimized, and the probability of colliding between instrument and peripheral obstacle can be minimized.

Another aspect of the present invention provides a kind of robot and controls the method for this robot, described robot comprises hold-down arm, guiding tube and multiple instrument, guiding tube is installed on hold-down arm, described multiple instrument has end-effector and diverges from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the required degree of freedom of instrument can be minimized, and those complex tasks that cannot be carried out by traditional instrument control method can be performed.

Other aspect parts of the present disclosure will be set forth in part in the following description, and a part will become obviously by this description, or can understand by the enforcement to the disclosure.

According to an aspect of the present invention, a kind of robot, comprising: many tool models, comprise guiding tube and multiple instrument, and described multiple instruments operate time interlocked with one another with guiding tube and from guiding tube fork, described many tool models have redundancy; Controller, the movement instruction information of end based on about described multiple instruments in work space and produce the control signal of the motion in engaging space about described multiplex's tool, wherein, the quantity of the degree of freedom of the described many tool models of redundancy reaction in engaging space is greater than the quantity of the degree of freedom of described many tool models in work space, and described control signal utilizes redundancy to produce.

Each in described guiding tube and multiple instrument all can comprise multiple connectors and multiple joint, and on the end of described multiple instruments, end-effector can be installed.

Controller can calculate the corresponding Jacobian matrix of the movement instruction information in work space with end about described multiple instruments, and controller can utilize the movement instruction information of the end of redundancy based on about described multiple instruments in work space and the Jacobian matrix that calculates and produce the control signal of the motion in engaging space about described many tool models.

In the time that described control signal produces, controller can calculate the object function of described robot, and described object function can be expressed as the weighted sum of multiple individual goal functions.

Each in described multiple individual goal function can comprise each instrument and the inverse that engages the distance between the limit.

Each in described multiple individual goal function can comprise the inverse of the distance between each instrument and single posture.

Each comprised engage torque quadratic sum in described multiple individual goal function.

Each in described multiple individual goal function can comprise and each instrument and peripheral obstacle between the inverse of distance.

Controller can produce the control signal about the motion in the engaging space being minimized at the object function of calculated robot.

Described robot also can comprise memory element, in described memory element, has stored: calculate the required algorithm of Jacobian matrix and about information, the calculating target function of the kinematic structure of robot required for realizing multiple individual goal functions of target and the type of the task of carrying out according to robot and the weight that individual goal function multiplies each other of multiple individualities.

In the time that the movement instruction information of the end to about multiple instruments in engaging space arranges priority, controller can calculate Jacobian matrix corresponding with the movement instruction information with relative high priority in work space and in work space with thering is the movement instruction information of relatively low priority corresponding Jacobian matrix, and controller can utilize many movement instruction information of redundancy based on be set up priority in work space to produce the control signal of the motion in engaging space about described many tool models with the Jacobian matrix calculating.

Controller can produce the control signal about the motion in the engaging space of or local optimum optimised at the object function of calculated robot.

Described robot also can comprise memory element, in described memory element, has stored: the priority of the movement instruction information setting to the end about multiple instruments in work space and calculate the required algorithm of Jacobian matrix, about information, the calculating target function of the kinematic structure of robot required for realizing multiple individual goal functions of target and the type of the task of carrying out according to robot and the weight that individual goal function multiplies each other of multiple individualities.

According to a further aspect in the invention, a kind of method of control, described robot comprises many tool models with guiding tube and multiple instruments, described multiple instrument operates and diverges from guiding tube time interlocked with one another with guiding tube, described many tool models have redundancy, and described method comprises: produce about the end of described multiple instruments in work space movement instruction information; The movement instruction information of end based on about described multiple instruments in work space and produce the control signal of the motion in engaging space about described many tool models, wherein, the quantity of the degree of freedom of the described many tool models of redundancy reaction in engaging space is greater than the quantity of the degree of freedom of described many tool models in work space, and described control signal utilizes redundancy to produce.

Producing the control signal of the motion in engaging space about described many tool models can comprise: calculate the corresponding Jacobian matrix of the movement instruction information in work space with end about described multiple instruments, utilize the movement instruction information of the end of redundancy based on about described multiple instruments in work space to produce the control signal of the motion in engaging space about described many tool models with the Jacobian matrix calculating.

The control signal that produces the motion in engaging space about described many tool models can comprise: calculating robot's object function; Produce the control signal about the motion in the engaging space of or local optimum optimised at the object function of calculated robot.

Described object function can be expressed as the weighted sum of multiple individual goal functions.

Brief description of the drawings

By the description of embodiment being carried out below in conjunction with accompanying drawing, these and/or other side of the present invention will become more clear and be easier to understand, in accompanying drawing:

Fig. 1 is the integrally-built perspective view illustrating according to the operating robot of the embodiment of the present invention;

Fig. 2 shows the inside of the A part shown in Fig. 1;

Fig. 3 A is the outside perspective view that the subordinate robot of the operating robot in pie graph 1 is shown, Fig. 3 B shows many tool models of embedding in shell and the structure of driver element, and Fig. 3 C is from two instruments of the B part shown in Fig. 3 B and the perspective view of an endoscope;

Fig. 4 is according to the control block diagram of the operating robot of the embodiment of the present invention;

Fig. 5 is the concept map of the expansion of the work space of the instrument that illustrates that the present invention realizes;

Fig. 6 be illustrate that the present invention realizes by the minimized concept map of the required rigidity in joint of instrument;

Fig. 7 be illustrate that the present invention realizes by the concept map of the minimizing possibility colliding between instrument and peripheral obstacle;

Fig. 8 is the minimized concept map that the required degree of freedom of instrument that the present invention realizes is shown;

Fig. 9 is the concept map of the execution of the complex task that illustrates that the present invention realizes;

Figure 10 is the flow chart illustrating according to the method for the control operating robot of the embodiment of the present invention;

Figure 11 is the control block diagram of operating robot according to another embodiment of the present invention;

Figure 12 is the flow chart that the method for controlling according to another embodiment of the present invention operating robot is shown;

Figure 13 is the external structure view of anthropomorphic robot;

Figure 14 is according to the control block diagram of the anthropomorphic robot of the embodiment of the present invention;

Figure 15 is the flow chart illustrating according to the method for the control anthropomorphic robot of the embodiment of the present invention;

Figure 16 is the control block diagram of anthropomorphic robot according to another embodiment of the present invention;

Figure 17 is the flow chart that the method for controlling according to another embodiment of the present invention anthropomorphic robot is shown.

Detailed description of the invention

To be described in detail embodiments of the invention now, example of the present invention shown in the drawings, wherein, identical label is indicated identical element all the time.

Fig. 1 is the integrally-built perspective view according to the operating robot of the embodiment of the present invention, and Fig. 2 shows the internal structure of the A part shown in Fig. 1.Specifically, the single port robot that Fig. 1 shows each multiple operating theater instruments all with the end that is attached with end-effector is placed in patient's health by an otch, thereby can in each position of human body, carry out operation.Necessary following requirement in the operation that utilizes single port robot will be described in below.The first, because multiple operating theater instruments are placed into patient's health by an otch, to be moved to subsequently the optional position for surgical tasks, to carry out surgical tasks, therefore require the work space spaciousness of operating theater instruments.The second, operating theater instruments need to have high degree of freedom so that it can be carried out various tasks and can minimize it and the collision of bodily tissue (such as abdominal wall).The 3rd, in operating theater instruments is placed into health time, in the time that operating theater instruments is carried out surgical tasks, requires it to have flexibility and there is high rigidity.,, when utilizing single port robot to carry out when operation, require to ensure the operating theater instruments spacious work space that can move freely therein that simultaneously meets operating theater instruments, high degree of freedom, high rigidity and flexibility.

Here, degree of freedom (DOF) is the degree of freedom in direct kinematics and inverse kinematics.Kinematic DOF is the quantity of the self-movement of mechanism, or for determining the quantity of variable of self-movement at the relative position place between connector.For example, the object in the three dimensions that comprises X-axis, Y-axis and Z axis has the three degree of freedom (3DOF) (being positioned at each axle) of the locus for determining object and for determining at least one of three degree of freedom (3DOF) (about the anglec of rotation of each axle) of direction in space of object.If object can move and can rotate around each axle along each axle, object can have six-freedom degree (6DOF).

As shown in fig. 1, operating robot can comprise: subordinate robot 200, for the patient who lies on operating-table is carried out to hands art; Master control set 100, remotely controls subordinate robot 200 by operator's's (being mainly surgeon) manipulation.Master control set 100 produces control signal and sends produced control signal to subordinate robot 200 according to operator's's (being mainly surgeon) manipulation.Meanwhile, subordinate robot 200 receives described control signal and according to received control signal, patient is carried out to the required manipulation of operation from master control set 100.Here, master control set 100 and subordinate robot 200 not necessarily as physically independently, the device that separates and being separated from each other, but can be bonded to each other and can be constructed to a shape.

As shown in fig. 1, subordinate robot 200 can comprise hold-down arm 202 and circular cylindrical shell 208.

The hold-down arm 202 of subordinate robot 200 can be implemented as with multiple degrees of freedom and be driven.Hold-down arm 202 comprises multiple connectors (referring to the 206a in Fig. 3 A, 206b and 206c) and multiple joint (referring to the 204a in Fig. 3 A, 204b and 204c).

In addition, circular cylindrical shell 208 is connected to the top of hold-down arm 202.The guiding tube 212 that contains multiple instrument 214a and 214b and/or endoscope 216 and for drive guiding tube 212 and multiple instrument 214a and 214b and/or endoscope 216 driver element (referring to Fig. 3 B 270) can be installed in circular cylindrical shell 208.Here, guiding tube 212 connects and is installed in hold-down arm 202.In the time that subordinate robot 200 does not carry out operation, guiding tube 212 is embedded in circular cylindrical shell 208, as shown in Figures 1 and 2, in the time that subordinate robot 200 carries out operation, be embedded into guiding tube 212 in circular cylindrical shell 208 from circular cylindrical shell 208 out and insert in patient's health.To describe in more detail guiding tube 212 and insert in patient's health and carry out the situation (, the interior shape of the part of the A shown in Fig. 1) of surgical tasks below.As shown in Figure 2, if guiding tube 212 is placed in health by the otch I forming in patient's skin, then near the position (operating position) of wanting executable operations, multiple instrument 214a and 214b and endoscope 216 diverge from guiding tube 212, to can carry out surgical tasks.Here, with identical in hold-down arm 202, multiple instrument 214a and 214b and endoscope 216 can comprise multiple connectors and multiple joint, and can be implemented as with multiple degrees of freedom and drive.The operation tool that is used for carrying out the Direct Surgery task for contact organ, shearing and stitching at intraperitoneal is (such as tweezers, pliers (jaw), grasper, shears, anastomat, cautery and pin,, end-effector 218a and 218b) be installed in each end of multiple instrument 214a and 214b.

Although endoscope 216 can be one multiple instrument 214a of diverging from guiding tube 212 and 214b in broad terms, but consider the characteristic of operating robot, multiple instrument 214a and 214b and endoscope 216 will be described respectively below, multiple instrument 214a and 214b have respectively end, the end-effector 218a and the 218b that on operating position, carry out Direct Surgery task (such as shearing and sewing up) are arranged in described end, the endoscope 216 with multiple joints does not carry out straightforward manipulation to operating position for assisting the operation of end-effector 218a and 218b.

Here, be mainly used to various operation endoscopes in robotic surgery (such as, thoracoscope, arthroscope, asoscope and peritoneoscope) can be used as endoscope 216.

Master control set 100 can comprise main actuation unit 112L and 112R, clutch pedal sensor 114L and 114R and display unit 116.

Master control set 100 comprises main actuation unit 112L and the 112R that operator holds and handles with his/her.Operator handles position and the function of hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 by main actuation unit 112L and 112R.Main actuation unit 112L and 112R can be implemented as has six-freedom degree, thus control hold-down arm 202 in three-dimensional (3D) space along the translational motion of X-axis, Y-axis and Z axis and along rolling rotatablely moving of direction (roll direction), pitch orientation (pitch direction), yaw direction (yaw direction).As shown in fig. 1, main actuation unit 112L and 112R may be implemented as has two handles, and the control signal being produced by operator's stick control is transmitted to subordinate robot 200, thereby controls the operation of the subordinate robot 200 that includes hold-down arm 202.By operator's stick control, can carry out the translational motion of hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 and rotatablely move and a large amount of surgical tasks (for example, shearing, cannulation etc.).

In addition, master control set 100 comprises two clutch pedal sensor 114L and 114R, and operator tramples or press clutch pedal sensor 114L and 114R with his/her foot, to expand the operating function of main actuation unit 112L and 112R.

Fig. 1 shows to utilize and comprises that the main actuation unit 112L of two handles and 112R and two clutch pedal sensor 114L and 114R control the concrete example of the method for the operation of hold-down arm 202, first, can use left handle 112L to control position and the operation of hold-down arm 202, can use right handles 112R to control position and the operation of guiding tube 212.In addition, be arranged under the state that mode switch (not shown) on master control set 100 or button (not shown) handled, can use left handle 112L to control position and the operation of the first instrument 214a, can use right handles 112R to control position and the operation of the first instrument 214b.In addition (vertical mode switch and button are handled after), under the state of being handled, can use left handle 112L to control position and the operation of endoscope 216 at left clutch pedal sensor 114L.In addition, after mode switch and button are handled, under the state of being handled at right clutch pedal sensor 114R, can use right handles 112R to control position and the operation of endoscope 216.

In Fig. 1, two main actuation units (handle) are installed on master control set 100.But, for example can add handle, to can handle in real time multiple operation equipments (, guiding tube, multiple instrument).Here, handle 112L and 112R can have various mechanical realizations according to its method of operating.For example, can use have that 3D moves and the various input blocks (such as stick) that operate hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b as handle 112L and 112R.Multiple connectors and multiple joint (coupling part between connector) are connected to main actuation unit 112L and 112R.The angular sensor (for example, encoder) of the anglec of rotation for detection of the each joint that is connected to handle 112L and 112R can be installed on the each joint in the multiple joints that are connected to main actuation unit 112L and 112R.

By endoscope (referring to Fig. 2 216) and/or the image of ultrasonic probe (not shown) input on display unit 116, be shown as image (pictorial image).

Display unit 116 can comprise one or more monitors, and can produce many required information of operation to be displayed on respectively on each monitor.In Fig. 1, display unit 116 comprises three monitors.But the quantity of monitor can be come to determine according to the type of information that will be shown or kind in a different manner.

Master control set 100 and subordinate robot 200 can be connected to each other by wired/wireless communication network, so that control signal, the endoscopic images of inputting by endoscope 216 and the ultrasonography inputted by ultrasonic probe (not shown) can be transmitted to the other side's (subordinate robot or master control set).For example, if two control signals that produced by the main actuation unit (handle) being arranged on master control set 100 (, for control the first instrument 214a diverging from guiding tube 212 position control signal and for controlling the control signal of position of the second instrument 214b diverging from guiding tube 212) need by simultaneously or approximately transmit simultaneously, described control signal can be sent respectively to subordinate robot 200.

Here, " difference " transfer control signal refers to that a control signal does not affect another control signal, noiseless.Like this, in order to transmit respectively multiple control signals, can transmit multiple control signals, carry out transfer control signal according to the order of its generation about the header of each control signal by increasing in the operating period that produces control signal, or carry out transfer control signal according to the priority of the control signal setting in advance about control signal transmission order and can make in all sorts of ways.In this case, the transfer path of transfer control signal is set respectively, thereby, can fundamentally prevent the interference between control signal.

Fig. 3 A is the outside perspective view that the subordinate robot of the operating robot in pie graph 1 is shown, Fig. 3 B shows many tool models of embedding in shell and the structure of driver element, and Fig. 3 C is from two instruments of the B part (end of guiding tube 212) shown in Fig. 3 B and the perspective view of an endoscope.

As shown in Fig. 3 A, subordinate robot 200 can comprise main body 201, hold-down arm 202 and circular cylindrical shell 208, and hold-down arm 202 comprises multiple connectors and multiple joint.

The main body 201 of subordinate robot 200 is parts of hold-down arm 202 of carrying out surgical tasks for installing and supporting, and multiple castor 201a are installed in the bottom of main body 201, with the position of mobile subordinate robot 200.Can on each castor 201a, be provided for the lever (not shown) of the mode of operation that changes multiple castor 201a.The position of operator's scalable lever is to change the mode of operation of castor 201a.The mode of operation of castor 201a can comprise braking, rotate freely (free swivel), direction-locking or spin locking.

The hold-down arm 202 of subordinate robot 200 can comprise three connectors (the first to the 3rd connector) 206a to 206c and three joints (the first to the 3rd joint) 204a to 204c.

The the first connector 206a that forms hold-down arm 202 has straight column and is set to perpendicular to main body 201.

The the first joint 204a that forms hold-down arm 202 is arranged on the coupling part between main body 201 and the first connector 206a.The first joint 204a can use the prismatic joint of moving along the axle of specifying among X-axis, Y-axis and Z axis to realize.The first joint 204a can have three degree of freedom, is used to X coordinate, Y coordinate and the Z coordinate of the remote center (RCM) of adjustment movement, with limited the operation of controlling the guiding tube 212 in the health that is inserted into patient.Particularly, the first joint 204a has the three degree of freedom that comprises X-axis translational motion, Y-axis translational motion and Z axis translational motion.For this reason, X-axis driver element (not shown), Y-axis driver element (not shown) and Z axis driver element (not shown) can be set on the first joint 204a.

The second connector 206b is mechanically connected to the front end of the first connector 206a.As shown in Fig. 3 A, the second connector 206b has curve shape.Particularly, the second connector 206b has the shape identical with a part for circular arc.

Second joint 204b is arranged on the coupling part between the first connector 206a and the second connector 206b.Second joint 204b can use around the revolute joint (revolute joint) of the axle rotation of specifying in X-axis, Y-axis and Z axis and realize.Second joint 204b can have two degree of freedom, as the parts for the shell 208 that wherein embeds guiding tube 212 is rotatablely moved.Particularly, second joint 204b has two degree of freedom that comprise the inclination direction rotation of shell 208 and pitch orientation rotation.For this reason, can on second joint 204b, arrange and roll driver element (not shown), pitch drive unit (not shown).

The 3rd connector 206c is mechanically connected to the front end of the second connector 206b.As shown in Fig. 3 A, the 3rd connector 206c is formed annular.Circular cylindrical shell 208 is arranged on the top of the 3rd connector 206c.

Many tool models 210 and driver element 270 can be embedded into (referring to Fig. 3 B) in circular cylindrical shell 208, many tool models 210 comprise be connected to hold-down arm 202 guiding tube 212, be arranged on multiple instrument 214a and 214b and endoscope 216 in guiding tube 212, driver element 270 is for driving the parts (guiding tube, multiple instrument and endoscope) of many tool models 210.As shown in Fig. 3 A, in the time that subordinate robot 200 does not carry out operation, many tool models 210 (that is, comprising the guiding tube 212 of multiple instrument 214a and 214b and endoscope 216) are embedded in circular cylindrical shell 208, make guiding tube 212 not be exposed on outside.Being equipped with the shell 208 of guiding tube 212 to may be implemented as with the 3rd connector 206c mechanically separates.By this way, in the time being equipped with the shell 208 of guiding tube 212 mechanically to separate with the 3rd connector 206c, the guiding tube 212 using in operation can easily be replaced or be sterilized.

The 3rd joint 204c is arranged on the coupling part between the second connector 206b and the 3rd connector 206c.The 3rd joint 204c can use around the revolute joint of the axle rotation of specifying in X-axis, Y-axis and Z axis and realize.The 3rd joint 204c can have one degree of freedom, as the parts for the shell 208 that is wherein equipped with guiding tube 212 is rotatablely moved.Particularly, the 3rd joint 204c comprises the one degree of freedom of the yaw direction rotation of shell 208.For this reason, yaw driver element (not shown) can be set on the 3rd joint 204c.

As mentioned above, in the time that subordinate robot 200 does not carry out operation, many tool models 210 and driver element 270 are embedded in circular cylindrical shell 208, many tool models 210 comprise the guiding tube 212 shown in Fig. 3 B, are arranged on multiple instrument 214a and 214b and endoscope 216 in guiding tube 212, and driver element 270 is connected to many tool models 210 and comprises actuator (such as the motor of the each parts for driving many tool models 210).

Meanwhile, utilize the process that comprises guiding tube 212, is arranged on the robotic surgery of many tool models 210 of multiple instrument 214a in guiding tube 212 and 214b and endoscope 216 mainly to comprise: to insert many tool models 210, locate many tool models 210 and utilize many tool model 210 executable operations.

In the time that subordinate robot 200 carries out operation, the many tool models 210 (guiding tube 212 more strictly speaking) that are embedded in circular cylindrical shell 208 out and by the otch I being formed in patient skin insert in health from shell 208.Guiding tube 212 is inserted to the operating period in health, identical with the B part of Fig. 3 B, in multiple instrument 214a, 214b and endoscope 216 from (, being folded under the state in the inner space of guiding tube 212 in multiple instrument 214a and 214b and endoscope 216) and being placed in patient's health before guiding tube 212 forks.

As shown in Fig. 3 C, if after the operation that is inserted into guiding tube 212 in patient's health and is positioned at the position (operating position) that will be performed operation is performed, guiding tube 212 is near operating position, eachly all at its end, multiple instrument 214a of end-effector 218a and 218b and 214b and endoscope 216 are installed and diverge from guiding tube 212, thereby can carry out surgical tasks.Fig. 3 C is the perspective view from two instruments of the end of guiding tube 212 (the B part of Fig. 3 B) (the first instrument 214a and the second instrument 214b) and endoscope 216.

The present invention is devoted to propose a kind of method of controlling integratedly the operation of the parts that form the subordinate robot 200 in the operating robot with subordinate robot 200, as shown in Fig. 3 A to Fig. 3 C, subordinate robot comprises hold-down arm 202, is connected to the guiding tube 212 of hold-down arm 202, is arranged on multiple instrument 214a and 214b and the endoscope 216 of in guiding tube 212 and in the time carrying out operation, diverging from guiding tube 212.When parts (, hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b, an endoscope 216) sum of degree of freedom in engaging space is greater than parts (, in the time that operating robot (being specially subordinate robot) has redundancy) in work space when degree of freedom (the required degree of freedom of working) total and utilizes redundancy.

In order to describe in further detail the concept of above-mentioned redundancy, first, prerequisite is, comprising hold-down arm 202, be connected to hold-down arm 202 guiding tube 212, be arranged on guiding tube 212 in and the subordinate robot 200 of multiple instrument 214a of diverging from guiding tube 212 in the time carrying out operation and 214b and endoscope 216, as shown in Fig. 3 A to Fig. 3 C, each in hold-down arm 202, guiding tube 212, two instrument 214a and 214b and an endoscope 216 includes multiple connectors and multiple joint.In addition, prerequisite is, hold-down arm 202 and guiding tube 212 operate when (interlocking) interlocked with one another, and the each instrument in guiding tube 212 and instrument 214a, 214b operates time interlocked with one another, and guiding tube 212 and an endoscope 216 operate time interlocked with one another.Here, in the time that subordinate robot 200 is manufactured like this: by by hold-down arm 202, the degree of freedom a in engaging space is embodied as 6 (along X, Y, three translation freedoms (3) of Z direction and along roll direction, pitch orientation, the summation of three rotary freedoms of yaw direction direction), guiding tube 212 is 6 (two bending degree of freedom of a part for guiding tube 212 at the degree of freedom b of engaging space, two bending degree of freedom of another part of guiding tube 212, along the one degree of freedom of direction of insertion with along the summation of a rotary freedom that rolls direction), degree of freedom c and the d of each in the first instrument 214a and the second instrument 214b in engaging space is 6, the degree of freedom e of endoscope 216 in engaging space is 3 (along rolling direction, pitch orientation, three rotary freedoms (3) of yaw direction), the degree of freedom N of the subordinate robot 200 that comprises above-mentioned all parts in engaging space is 27 (N=a+b+c+d+e=6+6+6+6+3=27).

Meanwhile, comprise that for using at the 3d space that comprises X-axis, Y-axis, Z axis the mechanism unit (for example: instrument or endoscope) in multiple joints carries out any task required degree of freedom in work space and be 6 (along three translation freedoms (3) of X, Y, Z direction with along the summation of three rotary freedoms (3) of inclination, pitching, yaw direction).

Shown in Fig. 3 A to Fig. 3 C, comprise two instrument 214a, in the subordinate robot 200 of 214b and endoscope 216, when the degree of freedom f of the each instrument in the first instrument 214a and the second instrument 214b in engaging space and g (, the required degree of freedom of operation technique in work space) be 6, and the degree of freedom h of endoscope 216 in work space (only need to be along inclination, pitching, the rotary freedom of yaw direction) be 3 o'clock, the degree of freedom M of the subordinate robot 200 that comprises two instrument 214a and 214b and endoscope 216 in work space is 15 (M=f+g+h=6+6+3=15).

In the time that the degree of freedom N of articulated robot in engaging space is greater than the degree of freedom M of articulated robot in work space, there is redundancy.Because the degree of freedom (N=27) of subordinate robot 200 in engaging space is greater than the degree of freedom (M=15) of subordinate robot 200 in work space, so subordinate robot 200 can be a system with redundancy.The present invention be devoted to propose a kind of obtain form subordinate robot 200 each parts (, hold-down arm 202, guiding tube 212, the multiple instrument 214a that diverge from guiding tube 212 and 214b and endoscope 216) process of solution engaging space, to utilize this redundancy to reach multiple targets.Here, form the hold-down arm 202 of subordinate robot 200, guiding tube 212, the solution of each in multiple instrument 214a and 214b and endoscope 216 in each engaging space is the anglec of rotation of the expectation in each joint in multiple joints of the formation hold-down arm 202 of each control time calculating, the anglec of rotation of the expectation in each joint in multiple joints of formation guiding tube 212, form each joint in multiple joints of multiple instrument 214a and 214b expectation the anglec of rotation and form the anglec of rotation of the expectation in each joint in multiple joints of endoscope 216, so that execution surgical tasks.

Fig. 4 is according to the control block diagram of the operating robot of the embodiment of the present invention.

As shown in Figure 4, operating robot comprises master control set 100A and the 200A of subordinate robot.

In the present embodiment, prerequisite is that each in hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and the endoscope 216 of the composition 200A of subordinate robot includes multiple connectors and multiple joint.In addition, in the present embodiment, prerequisite is that hold-down arm 202 and guiding tube 212 operate time interlocked with one another, and the each instrument in guiding tube 212 and multiple instrument 214a, 214b operates time interlocked with one another, and guiding tube 212 and an endoscope 216 operate time interlocked with one another.In addition, the prerequisite of the present embodiment is the situation that the 200A of subordinate robot has redundancy,, the situation in the time that the degree of freedom N of the 200A of subordinate robot in engaging space is greater than the degree of freedom M (N > M) of the 200A of subordinate robot in work space.

Master control set 100A can comprise position/orientation detecting unit 120A, speed detection unit 125A, memory element 130A, master controller 140A, communication unit 150A and display unit 116A.

Position/orientation detecting unit 120A detects the main actuation unit 112L that handled by operator and position and the direction of 112R.When main actuation unit 112L and 112R are implemented as while having six-freedom degree, the positional information of main actuation unit 112L and 112R can be represented as (x ', y ', z '), the directional information of main actuation unit 112L and 112R can be represented as (α ', β ', γ ').Position/orientation detecting unit 120A comprises: angular sensor (not shown), be installed on each joint in the multiple joints that are connected to main actuation unit 112L and 112R, and for detection of the anglec of rotation in each joint; Arithmetical operation module, by calculating the equation of the direct kinematics of main anglec of rotation substitution in each joint of being detected by angular sensor actuation unit 112L and 112R position and the directional information in the 3d space of main actuation unit 112L and 112R.Angular sensor can be encoder or potentiometer.Here the position/orientation detecting unit 120A that comprises angular sensor and arithmetical operation module is described.But, can detect about any device of main actuation unit 112L and the position of 112R and the information of direction and can be used as position/orientation detecting unit 120A.

Speed detection unit 125A is installed on each joint in the multiple joints that are connected to main actuation unit 112L and 112R and for detection of the speed (more particularly, being the rotary speed that is connected to each joint of main actuation unit 112L and 112R) of main actuation unit 112L and 112R.Tachometer can be used as speed detection unit 125A.In the present embodiment, utilize speed detection unit 125A to detect the speed of main actuation unit 112L and 112R.But, in the case of not using additional speed detector (velocity sensor), to the angular sensor of formation position/orientation detecting unit 120A (for example can pass through, encoder) output valve carry out differential and calculate the speed of main actuation unit 112L and 112R, and the velocity information of calculating can be used.

Memory element 130A wherein stores to utilize the redundancy of the 200A of subordinate robot to calculate solution (, forming the anglec of rotation of the expectation in each joint of hold-down arm 202, guiding tube 212, multiple instrument 214a, 214b and endoscope 216) required algorithm and the memorizer of information in engaging space.In memory element 130A, store: the zoom factor adopting in the time of motion convergent-divergent between main actuation unit 112L and the operation of 112R and the operation of the end (multiple instruments and endoscope) of the 200A of subordinate robot of carrying out master control set 100A, calculate the required algorithm of Jacobian matrix (Jacobian matrix), about the information of the kinematic structure of the 200A of subordinate robot, calculating target function required for realizing multiple individual goal functions of target of multiple individualities, study about form operating robot multiple operations result and with the weight multiplying each other according to the type of surgical tasks and individual goal function.

In addition, memory element 130A can store various reference pictures (radioscopic image, computed tomography (CT) image and nuclear magnetic resonance (MRI) image of for example, catching before executable operations).

Master controller 140A, a kind of for controlling the processor of integrated operation of operating robot, comprise converting unit 141A, redundancy inverse kinematics interpretation unit 142A and graphics processing unit 147A.

Converting unit 141A converts the position of the main actuation unit 112L being detected by position/orientation detecting unit 120A and 112R and directional information x ', y ', z ', α ', β ' and γ ' the movement instruction information (position and directional information x, y, z, α, β and the γ of the end (end that multiple instruments each and the end of endoscope) of subordinate robot 200A that, operator expect) of the 200A of subordinate robot in work space to.Converting unit 141A can utilize the motion convergent-divergent between the operation of end (multiple instruments and endoscope) of the main actuation unit 112L of master control set 100A and the operation of 112R and the 200A of subordinate robot to convert the position of main actuation unit 112L and 112R and directional information x ', y ', z ', α ', β ' and γ ' movement instruction information x, y, z, α, β and the γ of the 200A of subordinate robot in work space to., converting unit 141A can be multiplied by the position of main actuation unit 112L and 112R and directional information x ', y ', z ', α ', β ' and γ ' and utilize the zoom factor of applying while carrying out motion convergent-divergent to calculate movement instruction information x, y, z, α, β and the γ of the 200A of subordinate robot in work space.

Redundancy inverse kinematics interpretation unit 142A, utilize the redundancy of the 200A of subordinate robot to produce parts for the control signal (forming the anglec of rotation of the expectation in each joint in multiple joints of each parts) of the operation of the parts (hold-down arm, guiding tube, multiple instrument and endoscope) for integrally controlling the 200A of subordinate robot, comprise Jacobian matrix computing unit 144A, object function computing unit 145A and redundancy range site 146A.

First,, before the parts of redundancy inverse kinematics interpretation unit 142A are described in detail, now, description is there is to the concept of the explanation of direct kinematics, inverse kinematics and the inverse kinematics of the 200A of subordinate robot of redundancy.

In general, when given a series of engagement angles, (engage variable q) time, (operating variable p) for obtaining the position of fastening at robot end's rectangular coordinate or direction for the direct kinematics in robot system.Direct kinematics is relative simpler than inverse kinematics, by utilizing homogeneous transformation can obtain the solution of direct kinematics.Simultaneously, form contrast with direct kinematics, inverse kinematics is for fixing on position that robot end's rectangular coordinate fastens or direction (operating variable obtains engagement angles p) time, and (joint variable q) when giving,, the task list of the definition in work space is shown to the motion in engaging space.Because kinematical equation formula is the nonlinear equation that comprises surmount function, so may be than the relative more difficult solution that maybe can not obtain of direct kinematics.In addition, may or there be multiple solutions without solution.

As described in prerequisite above, in the situation that the 200A of subordinate robot has redundancy, inverse kinematics explain the pseudo inverse matrix that can utilize Jacobian matrix by numerical value carry out.Below, the inverse kinematics to redundancy is explained and is described below in greater detail.

Inverse kinematics is such process: in the time of the position of the end of given mechanical hand and direction, the position of the anglec of rotation in joint and the end of mechanical hand and direction (here, direction is represented as Eulerian angles) are corresponding.In position aspect, there is not the special method that obtains inverse kinematics solution, need utilize how much mutual relation formula (geometric interaction formula) or obtain inverse kinematics solution according to the connected structure of given robot according to intuition.Having under the operating robot in a large amount of joints or the situation of anthropomorphic robot, can not find inverse kinematics solution in position level.In this case, in real-time speed aspect, utilize Jacobi's mutual relation formula to calculate inverse matrix, obtain the speed in each joint, described speed is carried out to numerical integration, thereby, determine inverse kinematics solution.

In the system with redundancy (for example, the above-mentioned 200A of subordinate robot) in, the position that robot end's (each end of multiple instruments and end of endoscope) fastens at rectangular coordinate and direction are (, relation between a series of engagement angles (, engaging variable q)) in operating variable p and engaging space can utilize equation 1 below to represent.

[equation 1]

p=f(q)

Here p ∈ R, ^m, q ∈ R ⁿ, M < N, N is the degree of freedom of the 200A of subordinate robot in engaging space with redundancy, M is the degree of freedom of the 200A of subordinate robot in work space with redundancy.

In this case, p ∈ R ^mrefer to that operating variable p can be represented as M × 1 matrix.For example,, when there is the positional information x of end of the first instrument 214a of six-freedom degree in work space ₁, y ₁and z ₁with directional information α ₁, β ₁and γ ₁, in work space, there is the positional information x of the end of the second instrument 214b of six-freedom degree ₂, y ₂and z ₂with directional information α ₂, β ₂and γ ₂, in work space, there is the directional information α of the endoscope 216 of six-freedom degree ₃, β ₃and γ ₃while being operating variable p (the degree of freedom M=6+6+3=15 in work space), operating variable p can be represented as 15 × 1 following matrixes.

p = [\begin{matrix} x_{1} \\ y_{1} \\ z_{1} \\ α_{1} \\ β_{1} \\ γ_{1} \\ \cdot \\ \cdot \\ \cdot \\ α_{3} \\ β_{3} \\ γ_{3} \end{matrix}]

In addition, q ∈ R ⁿrefer to that engaging variable q can be represented as M × 1 matrix.For example, there is the rotation angle information q in six joints of the hold-down arm 202 of six-freedom degree in engaging space when composition ₁, q ₂, q ₃, q ₄, q ₅and q ₆, composition has the rotation angle information q in six joints of the guiding tube 212 of six-freedom degree in engaging space ₇, q ₈, q ₉, q ₁₀, q ₁₁and q ₁₂, composition has the rotation angle information q in six joints of the first instrument 214a of six-freedom degree in engaging space ₁₃, q ₁₄, q ₁₅, q ₁₆, q ₁₇and q ₁₈, composition has the rotation angle information q in six joints of the second instrument 214b of six-freedom degree in engaging space ₁₉, q ₂₀, q ₂₁, q ₂₂, q ₂₃and q ₂₄, there is the rotation angle information q of the endoscope 216 of three degree of freedom in engaging space ₂₅, q ₂₆and q ₂₇the degree of freedom N=6+6+6+6+3=27 engaging in variable q(engaging space) time, engage variable q and can be represented as 27 × 1 following matrixes.

q = [\begin{matrix} q_{1} \\ q_{2} \\ q_{3} \\ q_{4} \\ q_{5} \\ q_{6} \\ \cdot \\ \cdot \\ \cdot \\ q_{25} \\ q_{26} \\ q_{27} \end{matrix}]

By by above-mentioned equation 1 about time diffusion, can calculate differential dynamics equation equation 2 below.

[equation 2]

\overset{\cdot}{p} = J (q) \overset{\cdot}{q}

Here, J (q) is the Jacobian matrix of f (q).

Above-mentioned equation 2 engages variable q owing to obtaining by inverse kinematics, so as shown in equation 3, can be summarized as the velocity in joint equation.

[equation 3]

\overset{\cdot}{q} = J^{- 1} (q) \overset{\cdot}{p}

As the degree of freedom N in engaging space during with degree of freedom M identical (N=M) in work space (, in the time that system does not have redundancy), can calculate the inverse matrix J of Jacobian matrix J (q) ^-1, and can be by by inverse matrix J (q) ^-1(q) substitution equation 3 calculates the speed (velocity in joint in each joint element, that is, ), then, can carry out integration to speed, thus calculate each joint the anglec of rotation (engage the element of variable q, that is, q ₁, q ₂).

Simultaneously, in the time that the degree of freedom N in engaging space is greater than the degree of freedom M in work space (, in the time that system has redundancy), in the 200A of subordinate robot describing in the above, the columns of Jacobian matrix J (q) is greater than the line number of Jacobian matrix J (q), therefore, can not calculate inverse matrix J ^-1, and have an infinitely-great inverse kinematics solution (q).

Like this, in the time that system has redundancy, utilize the pseudo inverse matrix J of Jacobian matrix J (q) ^#(q) calculate inverse kinematics solution.Utilize the pseudo inverse matrix J of Jacobian matrix J (q) ^#(q) calculate the speed (velocity in joint of each joint in engaging space ) equation can be represented as following equation 4, the pseudo inverse matrix J of Jacobian matrix J (q) ^#(q) can be represented as following equation 5.

[equation 4]

\overset{\cdot}{q} = J^{#} \overset{\cdot}{p} + (I_{n} - J^{#} J) r

[equation 5]

J^{#} = J^{T} {({JJ}^{T})}^{- 1}

Here I, _nbe that n × n is unit matrix (or identity matrix), r is any vector, (I _n-J ^#j) be the kernel of vector r.

For example, to utilize redundancy to define multiple methods of any vector r (q), can be defined as following equation 6.

[equation 6]

r = - k \frac{&PartialD; w}{&PartialD; q}

Here, k is constant, and w is object function or performance indications valuation functions.

Object function w is the optimization of evaluating system or the important foundation of realization of goal quantitatively, object function w considers that target that all conditions arrange system quantitatively (in the present embodiment, target is the work space of expansion instrument, and makes the minimizing possibility of the collision between instrument and peripheral obstacle)., object function w is the design that is set to be evaluated at quantitatively control system and industrial system, the index (for assessment of the index of system) of the suitability of system in handling and operating, need to be in the solution that meets system model (in the present embodiment, composition hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b, the anglec of rotation vector of the solution of the each joint in multiple joints of endoscope 216 in engaging space and expectation finds target setting functional value to be maximized or minimized solution (anglec of rotation of the expectation in each joint in multiple joints) between q), thereby the optimal design of executive system or control quantitatively.

In the present embodiment, if found the solution in the engaging space being minimized at object function w, can carry out the Optimal Control of the system (operating robot) of the redundancy of utilizing the 200A of subordinate robot.Object function w (following, w is called as the object function of whole system) can be expressed as multiple object function w ₁to w _n(following, w ₁to w _nbe called as individual goal function) weighted sum.Individual goal function w ₁to w _nexample can comprise each instrument in instrument 214a and 214b and engage the each instrument in inverse, instrument 214a and the 214b of the distance between the limit and inverse, engage torque quadratic sum, instrument 214a and the 214b of the distance between single posture in each instrument and the inverse of distance between peripheral obstacle.

Below, the multiple targets (or the multiple effects that realized by the present invention) that with reference to Fig. 5 to Fig. 9, the present invention realized are described below in greater detail.

Fig. 5 is the concept map of the expansion of the work space of the instrument (comprising endoscope) that illustrates that the present invention realizes.

A left side of Fig. 5 illustrates the situation of utilizing existing instrument control method to carry out surgical tasks, and the right side of Fig. 5 illustrates and utilizes the situation of carrying out surgical tasks according to instrument control method of the present invention.

As shown in the left side of Fig. 5, carry out surgical tasks or even in the time utilizing guiding tube 22 flexibility and that there are multiple degree of freedom to carry out surgical tasks when utilizing according to the fixed guiding tube of the rigidity of prior art (inflexibility) or shaft-like guiding tube 22, guiding tube 22 and diverge and operate individually at each instrument (the first instrument 24a and the second instrument 24b) that its end is provided with end-effector 28a and 28b from guiding tube 22, guiding tube 22 and the endoscope 26 of diverging from guiding tube 22 operate individually.Therefore, when carrying out surgical tasks or while occurring that multiple instrument 24a and 24b are single posture and the position that can not be moved to expectation or direction when state (lock-out state), each instrument and/or endoscope 26 in instrument 24a and 24b can arrive the joint limit.; if arriving, the each instrument in multiple instrument 24a and 24b and/or endoscope 26 engage the limit or corresponding single posture;, due to the restriction of the work space of instrument 24a and 24b, each in multiple instrument 24a and 24b and/or endoscope 26 can not be implemented.When upward arrow indicated point in the left side of Fig. 5 is the posture of the expectation of the first instrument 24a and the second instrument 24b, the part of being indicated by dotted line represents that the second instrument 24b moves to the situation of the posture of expectation, engage the limit or corresponding single posture if the second instrument 24b arrives, the second instrument 24b can not be moved to the posture (the second instrument 24b can not be moved to the indicated region of dotted line) of expectation.

Simultaneously, as shown in the right side of Fig. 5, in the present embodiment, carry out surgical tasks owing to utilizing guiding tube 212 flexible and that there are multiple degree of freedom, guiding tube 212 and diverge and operate time interlocked with one another at each instrument (the first instrument 214a and the second instrument 214b) that its end is provided with end-effector 218a and 218b from guiding tube 212, guiding tube 212 and the endoscope 216 of diverging from guiding tube 212 operate time interlocked with one another, utilize the redundancy of the 200A of subordinate robot can integrally control the operation of the parts of the 200A of subordinate robot, setting can be carried out such operation: in the time adopting existing guiding tube and instrument control method (independent operation control), due to the restriction of the work space of instrument 24a and 24b (comprising endoscope 26), each in multiple instrument 24a and 24b and/or endoscope 26 can not be implemented.In the present embodiment, in the time that upward arrow indicated point in the right side of Fig. 5 is the posture of expectation of the first instrument 214a and the second instrument 214b, guiding tube 212 and the second instrument 214b operate time interlocked with one another.Therefore, for the second instrument 214b being moved to the posture of expectation, control the second instrument 214b along moving to the posture of expectation with the corresponding direction (direction to the right) of posture of expecting, also control the direction that guiding tube 212 can easily arrive the posture of expectation along the second instrument 214b simultaneously and move (guiding tube 212 along with the corresponding direction bending to the right of posture of the expectation of the second instrument 214b).

When being w with reference to the described individual goal function that expands the work space of instrument for realizing individual target of Fig. 5 ₁time, individual goal function w ₁can be defined as each instrument and the distance or the endoscope 216 and the distance d engaging between the limit that engage between the limit in multiple instrument 214a and 214b ₁1/d reciprocal ₁(w ₁=1/d ₁) or multiple instrument 214a and 214b in each instrument and the distance d between distance or endoscope 216 and single posture between single posture ₂1/d reciprocal ₂(w ₁=1/d ₂).In addition, individual goal function w ₁can be defined as each instrument and the 1/d reciprocal that engages the distance between the limit in multiple instrument 214a and 214b ₁and the 1/d reciprocal of distance between each instrument and single posture in multiple instrument 214a and 214b ₂simple summation or weighted sum.In this case, the each instrument and the distance d engaging between the limit in multiple instrument 214a and 214b ₁and distance d between each instrument and single posture in multiple instrument 214a and 214b ₂while being minimized, the work space of instrument 214a and 214b can be extended to maximum.About individual goal function w ₁, as individual goal function w ₁while being minimized, the work space of instrument 214a and 214b can be extended to maximum.

Fig. 6 is the minimized concept map of the required rigidity of connector of the instrument (comprising endoscope) that illustrates that the present invention realizes.

On Fig. 6, illustrate the situation of utilizing existing instrument control method to carry out surgical tasks, under Fig. 6, illustrate and utilize the situation of carrying out surgical tasks according to instrument control method of the present invention.

As shown in the upside of Fig. 6, carry out surgical tasks or even in the time utilizing guiding tube 22 flexibility and that there are multiple degree of freedom to carry out surgical tasks when utilizing according to the fixed guiding tube of the rigidity of prior art (inflexibility) or shaft-like guiding tube, guiding tube 22 and diverge and operate individually at each instrument (the first instrument 24a and the second instrument 24b) that its end is provided with end-effector 28a and 28b from guiding tube 22, guiding tube 22 and the endoscope 26 of diverging from guiding tube 22 operate individually.Therefore, in the time carrying out surgical tasks, too much payload is applied in the part in multiple joints of composition instrument 24a and 24b and endoscope 26, and the required rigidity in each joint of composition instrument 24a and 24b and endoscope 26 increases.In the time that the shown column of upside of Fig. 6 is the payload being applied in multiple instrument 24a and 24b and endoscope 26, in the upside of Fig. 6, payload is applied in the end of the second instrument 24b, therefore, form the required rigidity increase in each joint of multiple instrument 24a and 24b and endoscope 26.

Simultaneously, as shown in the downside of Fig. 6, in the present embodiment, carry out surgical tasks owing to utilizing guiding tube 212 flexible and that there are multiple degree of freedom, guiding tube 212 and diverge and operate time interlocked with one another at each instrument (the first instrument 214a and the second instrument 214b) that its end is provided with end-effector 218a and 218b from guiding tube 212, guiding tube 212 and the endoscope 216 of diverging from guiding tube 212 operate time interlocked with one another, utilize the redundancy of the 200A of subordinate robot can integrally control the operation of the parts of the 200A of subordinate robot, the required rigidity in each joint that forms multiple instrument 214a and 214b and endoscope 216 can be reduced by the distribution of payload.

When with reference to Fig. 6, described to make the required minimized individual goal function of rigidity in each joint of instrument for realizing individual target be w ₂time, individual goal function w ₂can be defined as the moment of torsion square (τ in the each joint that forms multiple instrument 214a and 214b and endoscope 216 ₁ ², τ ₂ ², τ ₃ ²) the quadratic sum (w of engage torque ₂=τ ₁ ²+ τ ₂ ²+ τ ₃ ²+ ...).In this case, as the moment of torsion square (τ in each joint of composition multiple instrument 214a and 214b and endoscope 216 ₁ ², τ ₂ ², τ ₃ ²) quadratic sum (, the individual goal function w of engage torque ₂) while being minimized, the required rigidity in each joint that forms multiple instrument 214a and 214b and endoscope 216 can be reduced.

Fig. 7 illustrates that the present invention's realization is by the concept map of the minimizing possibility colliding between instrument (comprising endoscope) and peripheral obstacle thing.

A left side of Fig. 7 illustrates the situation of utilizing existing instrument control method to carry out surgical tasks, and the right side of Fig. 7 illustrates and utilizes the situation of carrying out surgical tasks according to instrument control method of the present invention.

As shown in the left side of Fig. 7, carry out surgical tasks or even in the time utilizing guiding tube 22 flexibility and that there are multiple degree of freedom to carry out surgical tasks when utilizing according to the fixed guiding tube of the rigidity of prior art (inflexibility) or shaft-like guiding tube 22, guiding tube 22 and diverge and operate individually at each instrument (the first instrument 24a and the second instrument 24b) that its end is provided with end-effector 28a and 28b from guiding tube 22, guiding tube 22 and the endoscope 26 of diverging from guiding tube 22 operate individually.Therefore,, in the time carrying out surgical tasks, can inevitably bump with peripheral obstacle (tissue or other instrument), so that the each instrument in instrument 24a and 24b and/or endoscope 26 can be moved to the posture of expectation.In the left side of Fig. 7, when the setting party who is installed in the end-effector 28b on the second instrument 24b is when being the posture of expecting, be accompanied by and the collision of peripheral obstacle, so that the second instrument 24b can be moved to the posture of expectation.

Simultaneously, as shown in the right side of Fig. 7, in the present embodiment, carry out surgical tasks owing to utilizing guiding tube 212 flexible and that there are multiple degree of freedom, guiding tube 212 and diverge and operate time interlocked with one another at each instrument (the first instrument 214a and the second instrument 214b) that its end is provided with end-effector 218a and 218b from guiding tube 212, guiding tube 212 and the endoscope 216 of diverging from guiding tube 212 operate time interlocked with one another, utilize the redundancy of the 200A of subordinate robot can integrally control the operation of the parts of the 200A of subordinate robot, can avoid collision between each instrument and the peripheral obstacle in multiple instrument 214a and 214b and/or the collision between endoscope 216 and peripheral obstacle, or can reduce the probability of colliding between peripheral obstacle.On the right side of Fig. 7, in the present embodiment, when the setting party who is installed in the end-effector 218b on the second instrument 214b is when being the posture of expecting, guiding tube 212 and the second instrument 214b operate time interlocked with one another.Therefore, for fear of the collision between the second instrument 214b and peripheral obstacle, control the second instrument 214b with mobile away from the direction (direction left) of peripheral obstacle along the second instrument 214b, and also control guiding tube 212 and can easily move (guiding tube 212 is bent into S shape, to prevent the collision between the second instrument 214b and peripheral obstacle) away from the direction of peripheral obstacle along the second instrument 214b simultaneously.

When being w with reference to the described individual goal function that expands the work space of instrument for realizing individual target of Fig. 7 ₃time, individual goal function w ₃can be defined as distance between each instrument and the peripheral obstacle in multiple instrument 214a and 214b or the distance d between endoscope 216 and peripheral obstacle ₃1/d reciprocal ₃(w ₃=1/d ₃).In this case, the distance between each instrument and peripheral obstacle in multiple instrument 214a and 214b or the distance d between endoscope 216 and peripheral obstacle ₃time, can make tool and peripheral obstacle between collision minimize.About individual goal function w ₃, as individual goal function w ₃while minimizing, can make tool and peripheral obstacle between collision minimize.

Fig. 8 is the minimized concept map that the required degree of freedom of instrument that the present invention realizes is shown.

On Fig. 8, illustrate the situation of utilizing existing instrument control method to carry out surgical tasks, under Fig. 8, illustrate and utilize the situation of carrying out surgical tasks according to instrument control method of the present invention.

As shown in the upside of Fig. 8, carry out surgical tasks or even in the time utilizing guiding tube 22 flexibility and that there are multiple degree of freedom to carry out surgical tasks when utilizing according to the fixed guiding tube of the rigidity of prior art (inflexibility) or shaft-like guiding tube, guiding tube 22 and diverge and operate individually at each instrument (the first instrument 24a and the second instrument 24b) that its end is provided with end-effector 28a and 28b from guiding tube 22, guiding tube 22 and the endoscope 26 of diverging from guiding tube 22 operate individually.Therefore,, in order to carry out surgical tasks, multiple instrument 24a and 24b and endoscope 26 all need to be implemented as and have six-freedom degree.

Simultaneously, as shown in the downside of Fig. 8, in the present embodiment, carry out surgical tasks owing to utilizing guiding tube 212 flexible and that there are multiple degree of freedom, guiding tube 212 and diverge and operate time interlocked with one another at each instrument (the first instrument 214a and the second instrument 214b) that its end is provided with end-effector 218a and 218b from guiding tube 212, guiding tube 212 and the endoscope 216 of diverging from guiding tube 212 operate time interlocked with one another, utilize by the nearly portion of the 200A of subordinate robot (, the hold-down arm 202 that guiding tube 212 and guiding tube 212 are connected to) the redundancy that causes of degree of freedom can integrally control the operation of the parts of the 200A of subordinate robot.Therefore, utilize each that be for example implemented as, in there is the six-freedom degree of being less than instrument 214a and 214b and the endoscope 216 of (, four degree of freedom) can carry out the operation with six-freedom degree.

Fig. 9 is the concept map of the performance of the complex task that illustrates that the present invention realizes.

A left side of Fig. 9 illustrates the situation of utilizing existing instrument control method to carry out surgical tasks, and the right side of Fig. 9 illustrates and utilizes the situation of carrying out surgical tasks according to instrument control method of the present invention.

As shown in the left side of Fig. 9, carry out surgical tasks or even in the time utilizing guiding tube 22 flexibility and that there are multiple degree of freedom to carry out surgical tasks when utilizing according to the fixed guiding tube of the rigidity of prior art (inflexibility) or shaft-like guiding tube 22, guiding tube 22 and diverge and operate individually at each instrument (the first instrument 24a and the second instrument 24b) that its end is provided with end-effector 28a and 28b from guiding tube 22, guiding tube 22 and the endoscope 26 of diverging from guiding tube 22 operate individually.Therefore, be restricted to simple task (for example, through or break-in) by the surgical tasks of each execution in instrument 24a and 24b.

Simultaneously, as shown in the right side of Fig. 9, in the present embodiment, carry out surgical tasks owing to utilizing guiding tube 212 flexible and that there are multiple degree of freedom, guiding tube 212 and diverge and operate time interlocked with one another at each instrument (the first instrument 214a and the second instrument 214b) that its end is provided with end-effector 218a and 218b from guiding tube 212, guiding tube 212 and the endoscope 216 of diverging from guiding tube 212 operate time interlocked with one another, utilize the redundancy of the 200A of subordinate robot can integrally control the operation of the parts of the 200A of subordinate robot.Therefore, the minimizing of the probability that minimizes the collision between (referring to Fig. 6) and each instrument and peripheral obstacle of the required rigidity of the expansion (referring to Fig. 5) of work space that can implementation tool, each joint of instrument (referring to Fig. 7), and each individual goal function is bonded to each other, thereby can carry out those the complicated tasks that cannot be carried out by existing instrument control method (for example, automatic sewing).

In the time being w for the target that realizes system to carry out the object function of system of complex task with reference to Fig. 9 is described, the object function w of system can be defined as the multiple individual goal function w that describe with reference to Fig. 5 to Fig. 7 ₁, w ₂and w ₃weighted sum (w=aw ₁+ bw ₂+ cw ₃)., the object function w of whole system can be represented as the each instrument being defined as in instrument 214a and 214b and the distance or the endoscope 216 and the distance d engaging between the limit that engage between the limit ₁1/d reciprocal ₁individual goal function w ₁, be defined as the moment of torsion square (τ in the each joint that forms multiple instrument 214a and 214b and endoscope 216 ₁ ², τ ₂ ², τ ₃ ²) the quadratic sum (τ of engage torque ₁ ²+ τ ₂ ²+ τ ₃ ²+ ...) individual goal function w ₂, be defined as distance between each instrument and the peripheral obstacle in instrument 214a and 214b or the distance d between endoscope 216 and peripheral obstacle ₃1/d reciprocal ₃individual goal function w ₃weighted sum.In this case, the object function w (w=aw of system ₁+ bw ₂+ cw ₃) change according to time stream., take advantage of the weight multiplying each other with individual goal function to change according to the type of the surgical tasks of the 200A of subordinate robot execution.For example, the surgical tasks of carrying out as the 200A of subordinate robot is while being cannulation, and the independent target of minimizing possibility that makes the collision between instrument and peripheral obstacle is than the independent target of the work space of expansion instrument and make the required minimized independent target of rigidity in each joint of instrument more important.Therefore, and for realizing the individual goal function w of independent target of the minimizing possibility that makes the collision between instrument and peripheral obstacle ₃the weight c multiplying each other is confirmed as being greater than and other individual goal function w ₁and w ₂the weight a multiplying each other and b.

Referring back to Fig. 4, now, will the parts of redundancy inverse kinematics interpretation unit 142A be described in detail.

Jacobian matrix computing unit 144A calculate with from equation 2 (, differential kinematics formula by equation 1 (, p=f (q), for representing operating variable p and engaging the relation of variable q) was carried out about the time, differential obtains) the velocity in joint the Jacobian matrix J (q) multiplying each other.In this case, Jacobian matrix computing unit 144A calculates the Jacobian matrix J (q) of f (q) by many information of the kinematic structure about the 200A of subordinate robot (for example,, about the information of length that connects the connector between joint and joint) substitution being used for calculate the algorithm of Jacobian matrix J (q).

Object function computing unit 145A (, represents that equation 4 (,, in the 200A of subordinate robot with redundancy, utilizes the pseudo inverse matrix J of Jacobian matrix J (q) for calculation equation 6 ^#(q) speed (velocity in joint in the each joint of calculating in engaging space )

\overset{\cdot}{q} = J^{#} \overset{\cdot}{p} + (I_{n} - J^{#} J) r

) shown in any vector r (q)

r = - k \frac{&PartialD; w}{&PartialD; q}

) shown in object function w.Object function w (object function of whole system) can be expressed as multiple individual goal function w ₁to w _nweighted sum (w=aw ₁+ bw ₂+ cw ₃+ ...).Individual goal function w ₁to w _nexample can comprise: the each instrument in instrument 214a and 214b with engage the distance between the limit inverse, form the inverse of the each instrument in engage torque quadratic sum and instrument 214a and the 214b in each joint of multiple instrument 214a and 214b and endoscope 216 and the distance between peripheral obstacle.In this case, the object function w (w=aw of system ₁+ bw ₂+ cw ₃) change according to time stream., with individual goal function w ₁to w _nweight a, the b, the c that multiply each other ... change according to the type of the surgical tasks of being carried out by the 200A of subordinate robot.The type of the surgical tasks that object function computing unit 145A carries out according to the 200A of subordinate robot is determined and individual goal function w ₁to w _nweight a, the b, the c that multiply each other ...Object function computing unit 145A can utilize the information (positional information and the velocity information of main actuation unit 112L and 112R) of the operation about main actuation unit 112L and 112R being detected by position/orientation detecting unit 120A and speed detection unit 125A and the result of study of the multiple operations that are stored in the surgical tasks in memory element 130A is predicted the type of the surgical tasks of being carried out by operator.Here, surgical tasks be sew up, through, continuously sew up and cannulation in one, and multiple operations of surgical tasks comprise at least one in orientation, push and pull.Therefore, object function computing unit 145A determine the surgical tasks that the 200A of subordinate robot carries out type, determine and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., then calculate the object function w of whole system by each weight of being determined is multiplied by each individual goal function.

Redundancy range site 146A calculates the object function w of whole system and is minimized in solution in engaging space (, the anglec of rotation of the expectation in each joint of composition hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 q).Redundancy range site 146A is by by the equation 6 above the object function w substitution of being calculated by object function computing unit 145A, then by substitution in the equation 4 above equation 6 substitutions of object function w, carry out the speed (velocity in joint in the each joint in engaging space that calculating target function w is minimized ).Redundancy range site 146A calculates the anglec of rotation q of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216, and the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculating ) carry out the final solution in engaging space of integration.

Graphics processing unit 147A carries out the processing to input picture, and the image (for example, endoscope 216 and/or ultrasonic probe (not shown)) of inputting by the image information acquisition unit 220A of the 200A of subordinate robot is outputted as image.Here, the example of image processing can comprise the image that is hunted down amplification, dwindle, move, editor or filtering.

Communication unit 150A is connected to the communication unit 250A of master controller 140A and the 200A of subordinate robot and the communication unit 250A/ that data send to master controller 140A and the 200A of subordinate robot is received the telecommunication circuit of the data of the communication unit 250A of autonomous controller 140A and the 200A of subordinate robot by wired/wireless communication network, communication unit 150A can by the control signal being produced by redundancy range site 146A, (anglec of rotation of the expectation in joint q) sends to the 200A of subordinate robot, or can receive the image information (endoscopic images information and/or ultrasound image information) of obtaining by the image information acquisition unit 220A of the 200A of subordinate robot.

Display unit 116A exports various reference pictures (corresponding stereo-picture, the radioscopic image obtaining before operation is performed, CT image and the MRI image of ultrasonoscopy that the stereo-picture that the endoscopic images that for example, transmits with the endoscope 216 of subordinate robot 200 is corresponding and the ultrasonic probe (not shown) of subordinate robot 200 transmit) as visual information.

The 200A of subordinate robot is according to the control signal operation hold-down arm 202, guiding tube 212 and multiple instrument 214a, the 214b and 216 that receive from master control set 100A, directly patient is carried out to the required manipulation of operation.As shown in Figure 4, the 200A of subordinate robot can comprise image information acquisition unit 220A, memory element 230A, slave controller 240A, communication unit 250A, servo controller 260A and driver element 270A.

Image information acquisition unit 220A is inserted in patient's health, at the internal motion of internal or body cavity, catch, and obtains the image information of operating position.Image information acquisition unit 220A can be implemented as has endoscope 216 and/or ultrasonic probe (not shown).The image information being obtained by image information acquisition unit 220A can be transmitted to the graphics processing unit 247A in slave controller 240A, and can experience image processing process or can in the situation that not experiencing image processing process, send master control set 100A to by communication unit 250A.

Memory element 230A can store the information of controlling the required information of the 200A of subordinate robot and algorithm and obtaining by the 200A of subordinate robot.For example, the image information about operating position of being obtained by image information acquisition unit 220A is stored in memory element 230A.

Slave controller 240A is element for connecting subordinate robot 200 for controlling the processor of operation of the 200A of subordinate robot, can send the image information of the operating position obtaining by the 200A of subordinate robot to master control set 100A by communication unit 250A, or can receive the control signal being produced by redundancy range site 146A in master controller 140A from communication unit 250A (anglec of rotation of the expectation in joint q), and send received control signal to servo controller 260A.In addition, slave controller 240A can comprise graphics processing unit 247A, and graphics processing unit 247A carries out and processes the image of the operating position being obtained by the 200A of subordinate robot.Here, the example of image processing can comprise the image that is hunted down amplification, dwindle, rotate, move, edit and filter.As required, can be omitted in the image processing process of carrying out in slave controller 240A.

Communication unit 250A is connected to the communication unit 150A of controller 240A and master control set 100A and the communication unit 150A/ that data send to slave controller 240A and master control set 100A is received to the telecommunication circuit from the data of the communication unit 150A of slave controller 240A and master control set 100A by wired/wireless communication network, and communication unit 250A can receive the control signal from master control set 100A by utilizing redundancy to produce, and (anglec of rotation of the expectation in joint q) or the image information of being obtained by image information acquisition unit 220A (endoscopic images information and/or ultrasound image information) can be sent to master control set 100A.

Servo controller 260A calculates the engage torque τ of the anglec of rotation q of the expectation of following the joint of being transmitted by the redundancy range site 146A in master controller 140A, produce the moment of torsion control signal corresponding with calculated engage torque τ, and produced moment of torsion control signal is exported to the driver element 270A for driving rotatably composition hold-down arm 202, guiding tube 212, instrument 214a and each instrument of 214b and each joint of endoscope 216.

Driver element 270A is the actuator (such as the motor in the each joint for the power producing by electric power or hydraulic pressure being sent to each and the endoscope 216 that form hold-down arm 202, guiding tube 212, instrument 214a and 214b) that rotatably drives each joint of each and endoscope 216 composition hold-down arm 202, guiding tube 212, instrument 214a and 214b according to the moment of torsion control signal transmitting from servo controller 260A.Above-mentioned comprising the hold-down arm 202 as shown in Fig. 3 A to Fig. 3 C, be connected to the guiding tube 212 of hold-down arm 202, the subordinate robot 200 of two instrument 214a diverging from guiding tube 212 in the time carrying out surgical tasks and 214b and endoscope 216, the degree of freedom of each in hold-down arm 202, guiding tube 212, instrument 214a and 214b in engaging space is all 6, the degree of freedom of endoscope 216 in engaging space is 3, thereby 27 rotary joints are arranged in subordinate robot 200.Therefore, need 27 actuators to drive these rotary joints.

Figure 10 is the flow chart illustrating according to the method for the control operating robot of the embodiment of the present invention.

As the initial condition of the operation for describing the present embodiment, prerequisite is, the 200A of subordinate robot has redundancy, and each in hold-down arm 202, guiding tube 212, two instrument 214a and 214b and an endoscope 216 comprises multiple connectors and multiple joint.In addition, prerequisite is that hold-down arm 202 and guiding tube 212 operate time interlocked with one another, and the each instrument in guiding tube 212 and instrument 214a, 214b operates time interlocked with one another, and guiding tube 212 and an endoscope 216 operate time interlocked with one another.In addition, prerequisite is, pre-stored in memory element 130A: the zoom factor adopting in the time of motion convergent-divergent between main actuation unit 112L and the operation of 112R and the operation of the end (multiple instruments and endoscope) of the 200A of subordinate robot of carrying out master control set 100A, calculate the required algorithm of Jacobian matrix, about the information of the kinematic structure of the 200A of subordinate robot, calculating target function required for realizing multiple individual goal functions of target of multiple individualities, study is about forming the result of multiple operations of surgical tasks and the weight multiplying each other according to the type of surgical tasks and individual goal function.

First, if operation starts, operator's (using the surgeon of operating robot) of main actuation unit 112L and 112R uses main actuation unit 112L and 112R to carry out predetermined operation to carry out surgical tasks, the position/orientation detecting unit 120A of master control set 100A detects the positional information x ' of main actuation unit 112L and 112R, y ', z ' and directional information α ', β ', γ ', and by the main actuation unit 112L detecting and the positional information x ' of 112R, y ', z ' and directional information α ', β ', γ ' sends master controller 140A (operation 310) to.

Then, converting unit 141A in master controller 140A converts the position of the main actuation unit 112L being obtained by position/orientation detecting unit 120A and 112R and directional information x ', y ', z ', α ', β ' and γ ' the movement instruction information (, position and directional information x, y, z, α, β and the γ of the end of the subordinate robot 200A of operator's expectation (end of multiple instruments and the end of endoscope)) (operation 320) of the 200A of subordinate robot in work space to.Under this situation, converting unit 141A can calculate movement instruction information x, y, z, α, β and the γ of the 200A of subordinate robot in work space by the position and directional information x ', y ', z ', α ', β ' and the γ ' that zoom factor (being employed when the motion convergent-divergent between the operation of carrying out at the end (multiple instruments and endoscope) of the main actuation unit 112L of master control set 100A and the operation of 112R and the 200A of subordinate robot) are multiplied by main actuation unit 112L and 112R.

Subsequently, Jacobian matrix computing unit 144A in the redundancy inverse kinematics interpretation unit 142A of master controller 140A utilizes the required algorithm of the calculating Jacobian matrix that has been stored in memory element 130A and about many information of the kinematic structure of the 200A of subordinate robot (for example, about the information of the length of the connector for connecting joint and joint) carry out calculation equation 2 (, differential kinematics formula ) in the velocity in joint the Jacobian matrix J (q) (operation 330) multiplying each other.

Next, the object function computing unit 145A in the redundancy inverse kinematics interpretation unit 142A of master controller 140A determines the type of the surgical tasks of being carried out by the 200A of subordinate robot, determines and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., the object function w (operation 340) that then calculates whole system by each weight of being determined being multiplied by each individual goal function.In this case, the result of multiple operations that object function computing unit 145A can utilize the information (positional information and the velocity information of main actuation unit 112L and 112R) of the operation about main actuation unit 112L and 112R being detected by position/orientation detecting unit 120A and speed detection unit 125A and study to be stored in the surgical tasks in memory element 130A is predicted the type of the surgical tasks of being carried out by operator, can for example, search in memory element 130A according to predicted task (, cannulation) and individual goal function w ₁to w _nweight a, the b, the c that multiply each other ..., then, by by each weight a searching, b, c ... be multiplied by the object function w that each individual goal function calculates whole system.

Subsequently, the redundancy range site 146A in the redundancy inverse kinematics interpretation unit 142A of master controller 140A utilizes the redundancy of the 200A of subordinate robot to calculate the anglec of rotation q of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 (operation 350).Speed (the velocity in joint in the each joint in the engaging space that the object function w of the whole system that in this case, redundancy range site 146A calculating is calculated by object function computing unit 145A is minimized ), and calculate the anglec of rotation of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 _q, the anglec of rotation q of expectation is by the speed in the each joint in the engaging space to the calculated (velocity in joint ) carry out the solution in final engaging space that integration obtains.

Then, master controller 140A sends the anglec of rotation q of the expectation in each joint of being calculated by redundancy range site 146A to by communication unit 150A the slave controller 240A of the 200A of subordinate robot, and the slave controller 240A in the future anglec of rotation q of the expectation in each joint of autonomous controller 140A sends servo controller 260A (operation 360) to.

Subsequently, the servo controller 260A of the 200A of subordinate robot calculates the engage torque τ of the anglec of rotation q of the expectation of following each joint of being transmitted by the redundancy range site 146A in master controller 140A, and produces the moment of torsion control signal corresponding with calculated engage torque τ (operation 370).

Then, servo controller 260A sends produced moment of torsion control signal to driver element 270A (operation 380) for driving rotatably composition hold-down arm 202, guiding tube 212, instrument 214a and each instrument of 214b and each joint of endoscope 216.

By this process, utilize the redundancy of the 200A of subordinate robot realize various independent targets (expand instrument work space, make the required rigidity in each joint of instrument minimize, make the collision between instrument and peripheral obstacle minimizing possibility, make the required degree of freedom of instrument minimize and carry out complicated task), and, also can control integratedly the operation of the parts (hold-down arm, guiding tube, multiple instrument and endoscope) of the 200A of subordinate robot simultaneously.

Figure 11 is the control block diagram of operating robot according to another embodiment of the present invention.

Compare with the operating robot in Fig. 4, the difference of the operating robot shown in the operating robot shown in Figure 11 and Fig. 4 is: priority determining unit 143B is added in the redundancy inverse kinematics interpretation unit 142B of master controller 140B of master control set 100B.

At this, the description of the parts to using the title identical with title in Fig. 4 and label and identical label will be omitted.(but the A of labelling and B are used to embodiment to be distinguished from each other after label.) now, by the structure of the redundancy inverse kinematics interpretation unit 142B in the structure of adding the priority determining unit 143B in Figure 11 to, memory element 130B and master controller 140B, and the function changing due to priority determining unit 143B is described.

Memory element 130B in Figure 11 is that storage is for utilizing the redundancy of the 200B of subordinate robot to calculate the solution of engaging space (, the anglec of rotation of the expectation in each joint of composition hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216) required information and the memorizer of algorithm.In memory element 130B, store: the zoom factor adopting in the time of motion convergent-divergent between main actuation unit 112L and the operation of 112R and the operation of the end (multiple instruments and endoscope) of the 200B of subordinate robot of carrying out master control set 100B, to operating variable p (, the position/orientation information of multiple instrument 214a and 214b and the position/orientation information of endoscope 216) arrange priority (for example, between the position/orientation information of multiple instrument 214a and 214b and the directional information of endoscope 216, the position/orientation information of multiple instrument 214a and 214b is arranged to higher priority, or at the positional information x of the end of the first instrument 214a ₁, y ₁, z ₁directional information α with the end of the first instrument 214a ₁, β ₁and γ ₁between the positional information x of end to the first instrument 214a ₁, y ₁, z ₁higher priority is set), calculate the required algorithm of Jacobian matrix, about the required weight multiplying each other about the result of multiple operations of composition surgical tasks and according to the type of surgical tasks and individual goal function for the multiple individual goal functions, study of realizing multiple independent targets of information, the calculating target function of the kinematic structure of the 200B of subordinate robot.

In addition, memory element 130B also can store various reference pictures (radioscopic image, CT image and the MRI image of catching before being performed such as operation).

As shown in Figure 11, redundancy inverse kinematics interpretation unit 142B in master controller 140B is such parts: utilize the redundancy of the 200B of subordinate robot to produce for controlling integratedly the parts (hold-down arm of the 200B of subordinate robot, guiding tube, multiple instruments and endoscope) control signal (forming the anglec of rotation of the expectation in each joint in multiple joints of each parts), redundancy inverse kinematics interpretation unit 142B comprises priority determining unit 143B, Jacobian matrix computing unit 144B, object function computing unit 145B and redundancy range site 146B.

First, before the parts of redundancy inverse kinematics interpretation unit 142B are described in detail, now, by the inverse kinematics of describing in the time that the operating variable p in the 200B of subordinate robot to having redundancy arranges priority.

As mentioned above, in the time that system has redundancy, utilize the pseudo inverse matrix J of Jacobian matrix J (q) ^#(q) calculate inverse kinematics solution.

In this case, in the time that operating variable p is arranged to priority (for example,, when operating variable p is divided into p according to priority ₁and p ₂and to p ₁when higher priority is set), utilize the pseudo inverse matrix of Jacobian matrix to calculate the speed (velocity in joint of each joint in engaging space ) equation can be represented as following equation 7, and shown in equation 7 can be defined as following equation 8.

[equation 7]

\overset{\cdot}{q} = J_{1}^{#} {\overset{\cdot}{p}}_{1} + {\hat{J}}_{2}^{#} ({\overset{\cdot}{p}}_{2} - J_{2} J_{1}^{#} {\overset{\cdot}{p}}_{1}) + (I_{n} - J_{1}^{#} J_{1}) (I_{n} - {\hat{J}}_{2}^{#} {\hat{J}}_{2}) r

[equation 8]

{\hat{J}}_{2} = J_{2} (I_{n} - J_{1}^{#} J_{1})

Here p, ₁and p ₂to operating variable p the obtained sub-vector of classifying, J according to priority ₁and J ₂be and p ₁and p ₂corresponding Jacobian matrix, I _nbe n × n unit matrix (or identity matrix), r is any vector.

In the description of the method to operating variable p assigned priority, for example, position to multiple instrument 214a and 214b between the position of multiple instrument 214a and 214b and the directional information of directional information and endoscope 216 (in the time that endoscope 216 has along inclination, pitching, three rotary freedoms of yaw direction) and directional information arrange higher priority (in the time that the priority of the position/orientation information of different instruments differs from one another), or at the positional information x of the end of the first instrument 214a ₁, y ₁, z ₁with directional information α ₁, β ₁and γ ₁between the positional information x of end to the first instrument 214a ₁, y ₁, z ₁higher priority (in the time that the positional information of an instrument and the priority of directional information differ from one another) is set.

As shown in equation 6 and as the description above with reference to Fig. 5 to Fig. 9, even in the time operating variable p being classified according to priority, also define any vector r (q), individual goal function w ₁to w _nwith the object function w of whole system, to utilize redundancy, therefore, will omit detailed description.

Return to Figure 11, will the parts of redundancy inverse kinematics interpretation unit 142B be described in detail.

Position and directional information x, y, z, α, β and the γ of priority determining unit 143B end to the 200B of subordinate robot being changed by converting unit 141B (end of multiple instruments and the end of endoscope) according to predetermined priority classify.At this, prerequisite is that (, operating variable p) is divided into p according to priority for the position of the end of the 200B of subordinate robot and directional information ₁and p ₂, wherein, to p ₁the priority arranging is higher than to p ₂the priority arranging.For example, in the time that the position to multiple instrument 214a and 214b and directional information between the directional information (in the time that endoscope 216 has along inclination, pitching, three rotary freedoms of yaw direction) of the position at multiple instrument 214a and 214b and directional information and endoscope 216 arrange higher priority (in the time that the priority of the position/orientation information of different instruments differs from one another), position and the directional information of multiple instrument 214a and 214b are defined as p by priority determining unit 143B ₁, the directional information of endoscope 216 is defined as to p ₂.In addition, for example, as the positional information x of the end at the first instrument 214a ₁, y ₁, z ₁with directional information α ₁, β ₁and γ ₁between the positional information x of end to the first instrument 214a ₁, y ₁, z ₁when higher priority (in the time that the positional information of an instrument and the priority of directional information differ from one another) is set, priority determining unit 143B is by the positional information x of the end of the first instrument 214a ₁, y ₁, z ₁be defined as p ₁, by the directional information α of the end of the first instrument 214a ₁, β ₁and γ ₁be defined as p ₂.

Jacobian matrix computing unit 144B is by calculating the p with relatively high priority corresponding to operating variable p by many information of the kinematic structure about the 200B of subordinate robot (for example,, about the information of length that connects the connector between joint and joint) input for the algorithm that calculates Jacobian matrix ₁jacobian matrix J ₁(q) with p corresponding to the relative low priority of having of operating variable p ₂jacobian matrix J ₂(q).

Object function computing unit 145B calculation equation 6 (, ) shown in object function w, (, equation 6 represents equation 7

\overset{\cdot}{q} = J_{1}^{#} {\overset{\cdot}{p}}_{1} + {\hat{J}}_{2}^{#} ({\overset{\cdot}{p}}_{2} - J_{2} J_{1}^{#} {\overset{\cdot}{p}}_{1}) + (I_{n} - J_{1}^{#} J_{1}) (I_{n} - {\hat{J}}_{2}^{#} {\hat{J}}_{2}) r

Shown in any vector r (q), equation 7 utilization has the p with relatively high priority corresponding to operating variable p in the 200B of subordinate robot of redundancy ₁jacobian matrix J ₁(q) pseudo inverse matrix J ₁ ^#(q) with p corresponding to the relative low priority of having of operating variable p ₂jacobian matrix J ₂(q) pseudo inverse matrix J ₂ ^#(q) calculate the speed (velocity in joint in the each joint in engaging space ).Object function (object function of whole system) w can be expressed as multiple individual goal function w ₁to w _nweighted sum (w=aw ₁+ bw ₂+ cw ₃+ ...).The example of individual goal function can comprise each instrument in instrument 214a and 214b with engage the distance between the limit inverse, form the inverse of the each instrument in engage torque quadratic sum and instrument 214a and the 214b in each joint of multiple instrument 214a and 214b and endoscope 216 and the distance between peripheral obstacle.In this case, the object function w of whole system changes according to time stream., with individual goal function w ₁to w _nweight a, the b, the c that multiply each other ... the type of the surgical tasks of carrying out according to the 200B of subordinate robot changes.Object function computing unit 145B determines and individual goal function w ₁to w _nweight a, b, the c of the Change of types of the surgical tasks of carrying out according to the 200B of subordinate robot multiplying each other ...Object function computing unit 145B can utilize the information (positional information and the velocity information of main actuation unit 112L and 112R) of the operation about main actuation unit 112L and 112R being detected by position/orientation detecting unit 120B and speed detection unit 125B and the result that has previously been stored in the study of multiple operations of the surgical tasks in memory element 130B is predicted the type of the surgical tasks of being carried out by operator.Here, surgical tasks be sew up, through, continuously sew up and cannulation in one, and multiple operations of surgical tasks comprise at least one in orientation, push and pull.Therefore, object function computing unit 145B determine the surgical tasks that the 200B of subordinate robot carries out type, determine and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., then calculate the object function w of whole system by each weight of being determined is multiplied by each individual goal function.

Redundancy range site 146B calculates solution in the engaging space being minimized at the object function w of whole system, and (, the anglec of rotation of the expectation in each joint of composition hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 q).Redundancy range site 146B is by by the equation 6 above the object function w substitution of being calculated by object function computing unit 145B, then by substitution in the equation 7 above equation 6 substitutions of object function w, calculate the speed (velocity in joint in the each joint in the engaging space being minimized at object function w ).Redundancy range site 146B calculates the anglec of rotation q of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a, 214b and endoscope 216, and the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculated ) carry out the solution in final engaging space that integration obtains.

Figure 12 is the flow chart that the method for controlling according to another embodiment of the present invention operating robot is shown.

As the initial condition of the operation for describing the present embodiment, prerequisite is, the 200B of subordinate robot has redundancy, and each in hold-down arm 202, guiding tube 212, two instrument 214a and 214b and an endoscope 216 comprises multiple connectors and multiple joint.In addition, prerequisite is that hold-down arm 202 and guiding tube 212 operate time interlocked with one another, and the each instrument in guiding tube 212 and instrument 214a, 214b operates time interlocked with one another, and guiding tube 212 and an endoscope 216 operate time interlocked with one another.In addition, prerequisite is, pre-stored in memory element 130B: the zoom factor of applying in the time of motion convergent-divergent between main actuation unit 112L and the operation of 112R and the operation of the end (multiple instruments and endoscope) of the 200B of subordinate robot of carrying out master control set 100B, to operating variable p (, the position/orientation information of multiple instrument 214a and 214b and the directional information of endoscope 216) arrange priority, calculate the required algorithm of Jacobian matrix, about the information of the kinematic structure of the 200B of subordinate robot, calculating target function required for realizing multiple individual goal functions of target of multiple individualities, study is about forming the result of multiple operations of surgical tasks and the weight multiplying each other according to the type of surgical tasks and individual goal function.

First, if operation starts, operator's (using the surgeon of operating robot) of main actuation unit 112L and 112R uses main actuation unit 112L and 112R to carry out predetermined operation to carry out surgical tasks, the position/orientation detecting unit 120B of master control set 100B detects the positional information x ' of main actuation unit 112L and 112R, y ', z ' and directional information α ', β ', γ ', and by the main actuation unit 112L detecting and the positional information x ' of 112R, y ', z ' and directional information α ', β ', γ ' sends master controller 140B (operation 410) to.

Then, converting unit 141B in master controller 140B converts the position of the main actuation unit 112L being obtained by position/orientation detecting unit 120B and 112R and directional information x ', y ', z ', α ', β ' and γ ' the movement instruction information (position and directional information x, y, z, α, β and the γ of the end (end of multiple instruments and the end of endoscope) of subordinate robot 200A that, operator expect) (operation 420) of the 200B of subordinate robot in work space to.Under this situation, converting unit 141A can calculate movement instruction information x, y, z, α, β and the γ of the 200B of subordinate robot in work space by the position of main actuation unit 112L and 112R and directional information x ', y ', z ', α ', β ' and γ ' are multiplied by zoom factor (applying) in the time carrying out motion convergent-divergent between the operation of carrying out at the end (multiple instruments and endoscope) of the main actuation unit 112L of master control set 100B and the operation of 112R and the 200B of subordinate robot.

Subsequently, the position of the end to the 200B of subordinate robot being changed by converting unit 141B (end of multiple instruments and the end of endoscope) according to predetermined priority of the priority determining unit 143B in the redundancy inverse kinematics interpretation unit 142B of master controller 140B and directional information x, y, z, α, β and γ (, operating variable p) classify (operation 430).When prerequisite is that (, operating variable p) is divided into p according to priority for the position of end of the 200B of subordinate robot and directional information ₁and p ₂time, wherein, to p ₁the priority arranging is higher than to p ₂the priority arranging, for example, in the time that between the position of multiple instrument 214a and 214b and directional information and the directional information of endoscope 216, the position to multiple instrument 214a and 214b and directional information arrange higher priority, position and the directional information of multiple instrument 214a and 214b are defined as p by priority determining unit 143B ₁, the directional information of endoscope 216 is defined as to p ₂.

Then, Jacobian matrix computing unit 144B in the redundancy inverse kinematics interpretation unit 142B of master controller 140B utilize be stored in memory element 130B for calculate the algorithm of Jacobian matrix and about many information of the kinematic structure of the 200B of subordinate robot (for example,, about the information of length that connects the connector between joint and joint) come evaluation work variable p corresponding to the p with relatively high priority ₁jacobian matrix J ₁(q) with operating variable p corresponding to the p with relative low priority ₂jacobian matrix J ₂(q) (operation 440).

Then, the object function computing unit 145B in the redundancy inverse kinematics interpretation unit 142B of master controller 140B determine the surgical tasks that the 200B of subordinate robot carries out type, determine and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., the object function w (operation 450) that then calculates whole system by each weight of being determined being multiplied by each individual goal function.In this case, by the type of the surgical tasks of being carried out by operator (the result of multiple operations that object function computing unit 145B can utilize the information (positional information and the velocity information of main actuation unit 112L and 112R) of the operation about main actuation unit 112L and 112R being detected by position/orientation detecting unit 120B and speed detection unit 125B and study to be stored in the surgical tasks in memory element 130B is predicted, the type of the surgical tasks that the 200B of subordinate robot carries out), object function computing unit 145B can be according to predicted task (for example, cannulation) search and individual goal function w in memory element 130A ₁to w _nweight a, the b, the c that multiply each other ..., then, by by each weight a searching, b, c ... be multiplied by the object function w that each individual goal function calculates whole system.

Subsequently, the redundancy range site 146B in the redundancy inverse kinematics interpretation unit 142B of master controller 140B utilizes the redundancy of the 200B of subordinate robot to calculate the anglec of rotation q of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216 (operation 460).In this case, redundancy range site 146B calculates the speed (velocity in joint in the each joint in the engaging space being minimized at the object function w of the whole system of being calculated by object function computing unit 145B ) and calculate the anglec of rotation q of the expectation in the each joint for forming hold-down arm 202, guiding tube 212, multiple instrument 214a and 214b and endoscope 216, the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculated ) carry out the solution in final engaging space that integration obtains.

Next, the anglec of rotation q of the expectation in each joint that master controller 140B calculates redundancy range site 146B by communication unit 150B sends the slave controller 240B of the 200B of subordinate robot to, and the slave controller 240B in the future anglec of rotation q of the expectation in each joint of autonomous controller 140B sends servo controller 260B (operation 470) to.

Subsequently, the servo controller 260B of the 200B of subordinate robot calculates the engage torque τ of the anglec of rotation q of the expectation of following each joint of being transmitted by the redundancy range site 146B in master controller 140B, and produces the moment of torsion control signal corresponding with calculated engage torque τ (operation 480).

Then, servo controller 260B sends produced moment of torsion control signal to driver element 270B (operation 490) for driving rotatably composition hold-down arm 202, guiding tube 212, instrument 214a and each instrument of 214b and each joint of endoscope 216.

By this process, can utilize the redundancy of the 200B of subordinate robot realize each independent target (expand instrument work space, make the required rigidity in each joint of instrument minimize, make the collision between instrument and peripheral obstacle minimizing possibility, make the required degree of freedom of instrument minimize and carry out complicated task), and, also can control integratedly the operation of the parts (hold-down arm, guiding tube, multiple instrument and endoscope) of the 200B of subordinate robot simultaneously.

Figure 13 is the external structure view of anthropomorphic robot.

As shown in Figure 13, anthropomorphic robot 500 is as people, to use two lower limb 518L and the upright two mobile feet walking robot havings of 518R, anthropomorphic robot 500 comprises upper body 501 and sub-body 517, upper body 501 comprises 502, body 503, arm 504L and 504R, and sub-body 517 comprises two lower limb 518L and 518R.

The upper body 501 of anthropomorphic robot 500 comprises body 503, be connected to by neck 505 body 503 top 502, be connected to by shoulder 506L and 506R the top of main body 503 both sides two arm 504L and 504R and be connected to hands 507L and the 507R of the end of two arm 504L and 504R.Camera 511 is installed on 502 to be had in each machine assembly of human eye shape, with capture movement space image around.

Two arm 504L and 504R are implemented as with multiple degree of freedom and drive.Two arm 504L and 504R comprise multiple connectors and joint.Particularly, as shown in Figure 13, many tool models 510 are connected to the end (, left hand 507L) of left arm 504L, and many tool models 510 comprise guiding tube 512 and multiple instrument 514a, the 514b and the 514c that have end-effector 516a, 516b and 516c and diverge from guiding tube 512.In the time that anthropomorphic robot 500 is not executed the task, multiple instrument 514a, 514b and 514c embed in guiding tube 512, as shown in Figure 13, in the time that anthropomorphic robot 500 is executed the task, embed multiple instrument 514a, 514b in guiding tube 512 and 514c from guiding tube 512 out and for example, according to user's instruction execute the task (, clean up task).Below, particularly, comprise that the left arm 504L that many tool models 510 of guiding tube 512 and multiple instrument 514a, 514b and 514c are connected to is called as hold-down arm 504L.

Here, 504L is the same with hold-down arm, and guiding tube 512 and multiple instrument 514a, 514b and 514c also can comprise multiple connectors and joint, and can be implemented as with multiple degree of freedom drivings.In Figure 13, be installed in the end of multiple instrument 514a, 514b and 514c for the cleaning equipment (such as the clip for picking up rubbish, for collecting the vacuum cleaner of airborne dust and the cleaning cloth for clean dirty place) (, end-effector 516a, 516b and 516c) of carrying out clean up task.

The sub-body 517 of anthropomorphic robot 500 comprises: two lower limb 518L and 518R, be connected to the both sides of the bottom of the body 503 of upper body 501; Foot 519L and 519R, be connected to the end of two lower limb 518L and 518R.

" R " in label and " L " represent the right and the left side of anthropomorphic robot 500.

Figure 14 is according to the control block diagram of the anthropomorphic robot of the embodiment of the present invention.

First, in the present embodiment, prerequisite is that each in hold-down arm 504L, guiding tube 512 and multiple instrument 514a, 514b and the 514c of the left arm of composition anthropomorphic robot 500 includes multiple connectors and multiple joint.In addition, in the present embodiment, prerequisite is that hold-down arm 504L and guiding tube 512 operate time interlocked with one another, and the each instrument in guiding tube 512 and instrument 514a, 514b and 514c operates time interlocked with one another.In addition, in the present embodiment, anthropomorphic robot 500 has redundancy (, the degree of freedom N of anthropomorphic robot 500 in engaging space is greater than the degree of freedom M (N > M) of anthropomorphic robot 500 in work space).

As shown in Figure 14, anthropomorphic robot 500A can comprise input block 520A, image information acquisition unit 525A, memory element 530A, controller 540A, servo controller 550A, driver element 560A and position/orientation detecting unit 570A.

Input block 520A is used to be inputted by user the operational order (for example, walking instruction or assignment instructions) of anthropomorphic robot 500A, and can comprise user interface (UI) or remote controllers.

Image information acquisition unit 525A detects from the light of object reflection, converts described light to digital signal, thereby obtains space image around.For this reason, image information acquisition unit 525A comprises camera 511 and image processing module, and camera 511 is for capture movement space image around, and image processing module is exported and produced two dimensional image (2D) and 3D range information by the camera 511 receiving.Charge-coupled image sensor (CCD) camera, CMOS (Complementary Metal Oxide Semiconductor) (CMOS) camera or flight time (TOF) camera can be used as camera 511.In addition, can obtain about the random devices of the image information that is placed on the object on the walking path of anthropomorphic robot 500A and can be used as camera 511.

Memory element 530A is such memorizer: required information and the algorithm of solution (, the anglec of rotation of the expectation in each joint of composition hold-down arm 504L, guiding tube 512 and multiple instrument 514a, 514b and 514c) that utilizes the redundancy of anthropomorphic robot 500A to calculate in engaging space is stored in wherein.Calculate the required algorithm of Jacobian matrix, about information, the calculating target function of the kinematic structure of anthropomorphic robot 500A required for realizing multiple individual goal functions of multiple independent targets and being stored in memory element 530A according to the weight that the type of task and individual goal function multiply each other.

In addition, memory element 530A can store the recognition result of position of anthropomorphic robot 500A and the map of the space of the synchronous location of utilization and the drafting of map structuring (SLAM) algorithm.

Controller 540A is the processor of the integrated operation for controlling anthropomorphic robot 500A, and controller 540A comprises movement instruction generation unit 541A, redundancy inverse kinematics interpretation unit 542A and location estimation unit 547A.

The position of the end of picture signal around of the user instruction signal of movement instruction generation unit 541A based on transmitting from input block 520A, the space that transmits from image information acquisition unit 525A and the multiple instrument 514a, the 514b that transmit from position/orientation detecting unit 570A and 514c 3d space and directional information and produce multiple instrument 514a, 514b and movement instruction x, y, z, α, β and the γ of 514c in work space.Here the movement instruction x, y, z, α, β and the γ that are created in work space by movement instruction generation unit 541A, are operating variable p described above.

In the present embodiment, for executing location/direction feedback control, in the time of the movement instruction x, y, z in generation work space, α, β and γ, multiple instrument 514a, the 514b transmitting from position/orientation detecting unit 570A and position and the directional information of the end of 514c 3d space are reflected.But, in the time carrying out open loop control, position and the directional information of the end of multiple instrument 514a, 514b and 514c in 3d space can not be reflected, but the user instruction signal based on transmitting from input block 520A and the image information around the space of image information acquisition unit 525A transmission produce movement instruction x, y, z, α, β and γ.

Redundancy inverse kinematics interpretation unit 542A, utilize the redundancy of anthropomorphic robot 500A to produce parts for the control signal (forming the anglec of rotation of the expectation in multiple joints of each parts) of the parts (hold-down arm, guiding tube and multiple instrument) for controlling integratedly anthropomorphic robot 500A, comprise Jacobian matrix computing unit 544A, object function computing unit 545A and redundancy range site 546A.

Jacobian matrix computing unit 544A calculates and equation 2 (, differential kinematics formula ) in the velocity in joint the Jacobian matrix J (q) multiplying each other, equation 2 is by obtaining about time diffusion for the equation 1 (, p=f (q)) that represents operating variable p and engage the relation between variable q.In this case, Jacobian matrix computing unit 544A calculates the Jacobian matrix J (q) of f (q) by many information of the kinematic structure about anthropomorphic robot 500A (for example,, about the information of length of connector that connects joint and joint) being updated to algorithm for calculating Jacobian matrix J (q).

Object function computing unit 545A for calculation equation 6 (, represent equation 4 (, in the anthropomorphic robot 500A with redundancy, this equation utilizes the pseudo inverse matrix J of Jacobian matrix J (q) ^#(q) calculate the speed (velocity in joint) in each joint in engaging space) shown in any vector r (q)) shown in object function w.Object function w (object function of whole system) can be expressed as multiple individual goal function w ₁to w _nweighted sum (w=aw ₁+ bw ₂+ cw ₃+ ...).Individual goal function w ₁to w _nexample can comprise: the each instrument in multiple instrument 514a, 514b and 514c with engage the distance between the limit inverse, form the inverse of the distance between the engage torque quadratic sum in each joint and each instrument and the peripheral obstacle of multiple instrument 514a, 514b and 514c of multiple instrument 514a, 514b and 514c.In this case, the object function w of system changes according to time stream., with individual goal function w ₁to w _nweight a, the b, the c that multiply each other ... the type of carrying out according to anthropomorphic robot 500A of task changes.Object function computing unit 545A determines the type of being carried out by anthropomorphic robot 500A of task, determines and individual goal function w according to definite result ₁to w _nweight a, the b, the c that multiply each other ..., then calculate the object function w of whole system by each weight of being determined is multiplied by each individual goal function.

(, the anglec of rotation of the expectation in each joint of composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c q) for solution in the engaging space that the object function w of redundancy range site 546A calculating whole system is minimized.Redundancy range site 546A is by by the equation 6 above the object function w substitution of being calculated by object function computing unit 545A, then by substitution in the equation 4 above equation 6 substitutions of object function w, calculate the speed (velocity in joint in the each joint in the engaging space being minimized at object function w ).Redundancy range site 546A calculates the anglec of rotation q of the expectation in the each joint for forming hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c, and the anglec of rotation q of expectation is by the speed in the each joint in the engaging space to the calculated (velocity in joint ) carry out the solution in final engaging space that integration obtains.

Location estimation unit 547A is by estimating the position of anthropomorphic robot 500A to the rotation angle information application SLAM algorithm that is applied to the range information, the information (length information) that forms the connector of anthropomorphic robot 500A and the each rotary joint that calculate based on the image information of being obtained by image information acquisition unit 525A, and, draw the map corresponding with space simultaneously.In SLAM algorithm, the positional information of the position of feature and anthropomorphic robot 500A and directional information are set to a state variable and utilize stochastic filtering (stochastic filter) technology to estimate simultaneously.Its process comprises prediction, data association and the renewal operation that repetition retry is capable.In this case, extended Kalman filter (extended Kalman filter) or particle filter (particle filter) can be used as stochastic filtering device.

Servo controller 550A calculates the engage torque τ of the anglec of rotation of the expectation in the joint of the redundancy range site 546A transmission in following controller 540A, and produce the moment of torsion control signal corresponding with calculated engage torque τ, and produced moment of torsion control signal is sent to the driver element 560A in each joint of the each instrument for driving rotatably composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c.

Driver element 560A is the actuator (such as the motor for the power being produced by electric power or hydraulic pressure being sent to each joint in multiple joints of the each instrument that forms hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c) that rotatably drives each joint of each instrument of composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c according to the moment of torsion control signal transmitting from servo controller 550A.In the time that each instrument of hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c degree of freedom in engaging space is all 6,30 rotary joints are arranged on the left arm of anthropomorphic robot 500A.Therefore, need 30 actuators to drive these rotary joints.

Position/orientation detecting unit 570A detects position and the direction of each end (each ends of multiple instruments) of anthropomorphic robot 500A.Position/orientation detecting unit 570A comprises angular sensor (not shown) and arithmetical operation module, angular sensor is installed on the each joint in multiple joints of composition multiple instrument 514a, 514b and 514c, position and the directional information of the each end of arithmetical operation module by the equation of the direct kinematics of multiple anglec of rotation substitution in each joint of being detected by angular sensor instrument 514a, 514b and 514c being calculated to multiple instrument 514a, 514b and 514c in 3d space.Angular sensor can be encoder or potentiometer.The position/orientation detecting unit 570A that comprises angular sensor and arithmetical operation module is described.But, can detect about the position of each end of multiple instrument 514a, 514b and 514c and any device of the information of direction and can be used as position/orientation detecting unit 570A.

Figure 15 is the flow chart illustrating according to the method for the control anthropomorphic robot of the embodiment of the present invention.

As the initial condition of the operation for describing the present embodiment, prerequisite is, anthropomorphic robot 500A (particularly, the left arm of anthropomorphic robot 500A shown in Figure 13) there is redundancy, and each in hold-down arm 504L, guiding tube 512, three instrument 514a, 514b and 514c includes multiple connectors and multiple joint.In addition, prerequisite is that hold-down arm 504L and guiding tube 512 operate time interlocked with one another, and the each instrument in guiding tube 512 and instrument 514a, 514b and 514c operates time interlocked with one another.In addition, prerequisite is to have stored in memory element 530A: calculate the required algorithm of Jacobian matrix, about the required weight for realizing multiple individual goal functions of multiple independent targets and multiplying each other according to the type of task and individual goal function of information, the calculating target function of the kinematic structure of anthropomorphic robot 500A.

For example, if the assignment instructions of anthropomorphic robot 500A (, clean instruction) is inputted by input block 520A by user, the task of anthropomorphic robot 500A starts.

First, if the task of anthropomorphic robot 500A starts, position and the directional information of the end that controller 540A receives multiple instrument 514a, 514b and 514c from position/orientation detecting unit 570A periodically 3d space, and execute the task (operation 610).

Then, the position of the end of picture signal around of the user instruction signal of the movement instruction generation unit 541A in controller 540A based on transmitting from input block 520A, the space that transmits from image information acquisition unit 525A and the multiple instrument 514a, the 514b that transmit from position/orientation detecting unit 570A and 514c 3d space and directional information and produce multiple instrument 514a, 514b and movement instruction x, y, z, α, β and the γ (operation 620) of 514c in work space.Here movement instruction x, y, z, α, β and the γ in the work space that are produced by movement instruction generation unit 541A, are operating variable p described above.

Subsequently, Jacobian matrix computing unit 544A in the redundancy inverse kinematics interpretation unit 542A of controller 540A utilize be stored in memory element 530A for example, for calculating the algorithm of Jacobian matrix J (q) and about many information of the kinematic structure of anthropomorphic robot 500A (, about the information of length of connector that connects joint and joint) calculate and equation 2 (, differential kinematics formula above ) in the velocity in joint the Jacobian matrix J (q) (operation 630) multiplying each other.

Next, the object function computing unit 545A in the redundancy inverse kinematics interpretation unit 542A of controller 540A determines the type of the task of anthropomorphic robot 500A execution, determines and individual goal function w according to definite result ₁to w _nweight a, the b, the c that multiply each other ..., the object function w (operation 640) that then calculates whole system by each weight of being determined being multiplied by each individual goal function.

Subsequently, the redundancy range site 546A in the redundancy inverse kinematics interpretation unit 542A of controller 540A utilizes the redundancy of anthropomorphic robot 500A to calculate the anglec of rotation q of the expectation in the each joint for forming hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c (operation 650).In this case, redundancy range site 546A calculates the speed (velocity in joint in the each joint in the engaging space being minimized at the object function w of the whole system of being calculated by object function computing unit 545A ), and the anglec of rotation q that calculates the expectation in the each joint for forming hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c, the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculated ) carry out the solution in final engaging space that integration obtains.

Then, controller 540A sends the anglec of rotation q of the expectation in each joint of being calculated by redundancy range site 546A to servo controller 550A (operation 660).

Subsequently, servo controller 550A calculates the engage torque τ of the anglec of rotation of the expectation in the joint of the redundancy range site 546A transmission in following controller 540A, and produces the moment of torsion control signal corresponding with calculated engage torque τ (operation 670).

Then, servo controller 550A sends produced moment of torsion control signal to the driver element 560A (operation 680) in each joint of the each instrument for driving rotatably composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c.

By this process, can utilize the redundancy of anthropomorphic robot 500A realize various independent targets (expand instrument work space, make the required rigidity in each joint of instrument minimize, make the collision between instrument and peripheral obstacle minimizing possibility, make the required degree of freedom of instrument minimize and carry out complicated task), and, also can control integratedly the operation of the parts (hold-down arm, guiding tube and multiple instrument) of anthropomorphic robot 500A simultaneously.

Figure 16 is the control block diagram of anthropomorphic robot according to another embodiment of the present invention.

Compare with the anthropomorphic robot in Figure 14, the difference of the anthropomorphic robot in anthropomorphic robot 500B and Figure 14 is as shown in figure 16: priority determining unit 543B is added in the redundancy inverse kinematics interpretation unit 542B of master controller 540B.

At this, the description of the parts to using the title identical with title in Figure 14 and label and identical label will be omitted.(but the A of labelling and B are used to embodiment to be distinguished from each other after label.) now, by the structure of the redundancy inverse kinematics interpretation unit 542B in the structure of adding the priority determining unit 543B in Figure 16 to, memory element 530B and controller 540B, and the function changing due to priority determining unit 143B is described.

Memory element 530B in Figure 16 is that the redundancy of memory by using anthropomorphic robot 500B is calculated solution (, the anglec of rotation of the expectation in each joint of each instrument of composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c) required information and the memorizer of algorithm in engaging space.In memory element 530B, store: to operating variable p (, the position/orientation information of multiple instrument 514a, 514b and 514c) arrange priority (for example, between multiple instrument 514a, 514b and the position/orientation information of 514c, the position/orientation information of the first instrument 514a is arranged to higher priority, or at the positional information x of the end of the first instrument 514a ₁, y ₁, z ₁with directional information α ₁, β ₁and γ ₁between the positional information x of end to the first instrument 514a ₁, y ₁, z ₁higher priority is set), calculate the required algorithm of Jacobian matrix, about the required weight for realizing multiple individual goal functions of multiple independent targets and multiplying each other according to the type of task and individual goal function of information, the calculating target function of the kinematic structure of anthropomorphic robot 500B.

In addition, memory element 530B can store the recognition result of position and the map of the space that utilizes SLAM algorithm to draw of anthropomorphic robot 500B.

As shown in Figure 16, redundancy inverse kinematics interpretation unit 542B in controller 540B is a kind of control signal (forming the anglec of rotation of the expectation in each joint in multiple joints of each parts) of utilizing the redundancy of anthropomorphic robot 500B to produce the parts (hold-down arm, guiding tube and multiple instrument) for controlling integratedly anthropomorphic robot 500B, and redundancy inverse kinematics interpretation unit 542B comprises priority determining unit 543B, Jacobian matrix computing unit 544B, object function computing unit 545B and redundancy range site 546B.

First, before the parts of redundancy inverse kinematics interpretation unit 542B are described in detail, now, by the inverse kinematics of describing in the time that the operating variable p in the anthropomorphic robot 500B to having redundancy arranges priority.

[equation 7]

\overset{\cdot}{q} = J_{1}^{#} {\overset{\cdot}{p}}_{1} + {\hat{J}}_{2}^{#} ({\overset{\cdot}{p}}_{2} - J_{2} J_{1}^{#} {\overset{\cdot}{p}}_{1}) + (I_{n} - J_{1}^{#} J_{1}) (I_{n} - {\hat{J}}_{2}^{#} {\hat{J}}_{2}) r

[equation 8]

{\hat{J}}_{2} = J_{2} (I_{n} - J_{1}^{#} J_{1})

In the description of the method to operating variable p assigned priority, for example, between the position/orientation information of multiple instrument 514a, 514b and 514c and the directional information of endoscope 216, can higher priority (in the time that the priority of the position/orientation information of different instruments differs from one another) be set to the position/orientation information of the first instrument 514a, or at the positional information x of the end of the first instrument 514a ₁, y ₁, z ₁with directional information α ₁, β ₁and γ ₁between the positional information x of end to the first instrument 514a ₁, y ₁, z ₁higher priority (in the time that the positional information of an instrument and the priority of directional information differ from one another) is set.

Referring back to Figure 16, will the parts of redundancy inverse kinematics interpretation unit 542B be described in detail.

Position and directional information x, y, z, α, β and the γ of priority determining unit 543B end (each ends of multiple instruments) to the anthropomorphic robot 500B being produced by movement instruction generation unit 541B according to predetermined priority classify.At this, prerequisite is that (, operating variable p) is divided into p according to priority for the position of the end of anthropomorphic robot 500B and directional information ₁and p ₂, wherein, to p ₁the priority arranging is higher than to p ₂the priority arranging.For example, in the time can higher priority (in the time that the priority of the position/orientation information of different instruments differs from one another) being set to the position of the first instrument 514a and directional information between the position at multiple instrument 514a, 514b and 514c and directional information, the position of the first instrument 514a and directional information are defined as p by priority determining unit 543B ₁, position and the directional information of the second instrument 514b and the 3rd instrument 514c are defined as to p ₂.In addition, for example, as the positional information x of the end at the first instrument 514a ₁, y ₁, z ₁with directional information α ₁, β ₁and γ ₁between the positional information x of end to the first instrument 514a ₁, y ₁, z ₁when higher priority (in the time that the positional information of an instrument and the priority of directional information differ from one another) is set, priority determining unit 543B is by the positional information x of the end of the first instrument 514a ₁, y ₁, z ₁be defined as p ₁, by the directional information α of the end of the first instrument 514a ₁, β ₁and γ ₁be defined as p ₂.

Jacobian matrix computing unit 544B by by many information of the kinematic structure about anthropomorphic robot 500B (for example,, about the information of length that connects the connector between joint and joint) input for calculate the algorithm of Jacobian matrix come evaluation work variable p corresponding to the p with relatively high priority ₁jacobian matrix J ₁(q) with p corresponding to thering is relative low priority ₂jacobian matrix J ₂(q).

Object function computing unit 545B calculation equation 6 (, ) shown in object function w, (, equation 6 represents equation 7

\overset{\cdot}{q} = J_{1}^{#} {\overset{\cdot}{p}}_{1} + {\hat{J}}_{2}^{#} ({\overset{\cdot}{p}}_{2} - J_{2} J_{1}^{#} {\overset{\cdot}{p}}_{1}) + (I_{n} - J_{1}^{#} J_{1}) (I_{n} - {\hat{J}}_{2}^{#} {\hat{J}}_{2}) r

) shown in any vector r (q), equation 7 utilization have the anthropomorphic robot 500B of redundancy operating variable p corresponding to the p with relatively high priority ₁jacobian matrix J ₁(q) pseudo inverse matrix J ₁ ^#(q) with operating variable p corresponding to the p with relative low priority ₂jacobian matrix J ₂(q) pseudo inverse matrix J ₂ ^#(q) calculate the speed (velocity in joint in the each joint in engaging space ).Object function (object function of whole system) w can be expressed as multiple individual goal function w ₁to w _nweighted sum (w=aw ₁+ bw ₂+ cw ₃+ ...).The example of individual goal function can comprise each instrument in instrument 514a, 514b and 514c with engage the distance between the limit inverse, form the inverse of the each instrument in engage torque quadratic sum and instrument 514a, 514b and the 514c in each joint of multiple instrument 514a, 514b and 514c and the distance between peripheral obstacle.In this case, the object function w of whole system changes according to time stream., with individual goal function w ₁to w _nweight a, the b, the c that multiply each other ... the type of carrying out according to anthropomorphic robot 500B of task changes.Object function computing unit 545B determine the task that anthropomorphic robot 500B carries out type, determine and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., then calculate the object function w of whole system by each weight of being determined is multiplied by each individual goal function.

Redundancy range site 546B calculates solution in the engaging space being minimized at the object function w of whole system, and (, the anglec of rotation of the expectation in each joint of composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c q).Redundancy range site 546B is by by the equation 6 above the object function w substitution of being calculated by object function computing unit 545B, then by substitution in the equation 7 above equation 6 substitutions of object function w, calculate the speed (velocity in joint in the each joint in the engaging space being minimized at object function w ).Redundancy range site 546B calculates the anglec of rotation q of the expectation in the each joint for forming hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c, and the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculated ) carry out the solution in final engaging space that integration obtains.

As the initial condition of the operation for describing the present embodiment, prerequisite is, anthropomorphic robot 500B (particularly, the left arm of anthropomorphic robot 500B shown in Figure 13) there is redundancy, and each in hold-down arm 504L, guiding tube 512, three instrument 514a, 514b and 514c includes multiple connectors and multiple joint.In addition, prerequisite is, hold-down arm 504L and guiding tube 512 operate time interlocked with one another, and the each instrument in guiding tube 512 and instrument 514a, 514b and 514c operates time interlocked with one another.In addition, prerequisite is, in memory element 530B, stored: priority that operating variable p (, the position/orientation information of multiple instrument 514a, 514b and 514c) is arranged, calculate the required algorithm of Jacobian matrix, about the required type for the task of realizing multiple individual goal functions of multiple independent targets and carry out according to robot of information, the calculating target function of the kinematic structure of anthropomorphic robot 500B and the weight that individual goal function multiplies each other.

For example, if the assignment instructions of anthropomorphic robot 500B (, clean instruction) is inputted by input block 520B by user, the task of anthropomorphic robot 500B starts.

First, if the task of anthropomorphic robot 500B starts, position and the directional information of the end that controller 540B receives multiple instrument 514a, 514b and 514c from position/orientation detecting unit 570B periodically 3d space, and execute the task (operation 710).

Then, the position of the end of picture signal around of the user instruction signal of the movement instruction generation unit 541B in controller 540B based on transmitting from input block 520B, the space that transmits from image information acquisition unit 525B and the multiple instrument 514a, the 514b that transmit from position/orientation detecting unit 570B and 514c 3d space and directional information and produce multiple instrument 514a, 514b and movement instruction x, y, z, α, β and the γ (operation 720) of 514c in work space.Here the movement instruction x, y, z, α, β and the γ that are created in work space by movement instruction generation unit 541B, are operating variable p described above.

Subsequently, the priority determining unit 543B in the redundancy inverse kinematics interpretation unit 542B of controller 540B according to predetermined priority to position and directional information x, y, z, α, β and the γ of end (each ends of multiple instruments) of the anthropomorphic robot 500B being produced by movement instruction generation unit 541B classify (operation 730).When operating variable, p is divided into p according to priority ₁and p ₂time, wherein, to p ₁the priority arranging is higher than to p ₂the priority arranging, for example, in the time that between the position of multiple instrument 514a, 514b and 514c and directional information, the position to the first instrument 514a and directional information arrange higher priority, the position of the first instrument 514a and directional information are defined as p by priority determining unit 543B ₁, position and the directional information of the second instrument 514b and the 3rd instrument 514c are defined as to p ₂.

Subsequently, Jacobian matrix computing unit 544B in the redundancy inverse kinematics interpretation unit 542B of controller 540B utilize for calculate the algorithm of Jacobian matrix and about many information of the kinematic structure of anthropomorphic robot 500B (for example,, about the information of length that connects the connector between joint and joint) come evaluation work variable p corresponding to the p with relatively high priority ₁jacobian matrix J ₁(q) with p corresponding to thering is relative low priority ₂jacobian matrix J ₂(q) (operation 740).

Next, the object function computing unit 545B in the redundancy inverse kinematics interpretation unit 542B of controller 540B determine the task that anthropomorphic robot 500B carries out type, determine and individual goal function w based on definite result ₁to w _nweight a, the b, the c that multiply each other ..., the object function w (operation 750) that then calculates whole system by each weight of being determined being multiplied by each individual goal function.

Subsequently, the redundancy range site 546B in the redundancy inverse kinematics interpretation unit 542B of controller 540B utilizes the redundancy of anthropomorphic robot 500B to calculate the anglec of rotation q of the expectation in the each joint for forming hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c (operation 760).In this case, redundancy range site 546B calculates the speed (velocity in joint in the each joint in the engaging space being minimized at the object function w of whole system ), and the anglec of rotation q that calculates the expectation in each joint of composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c, the anglec of rotation q of expectation is the speed (velocity in joint by the each joint in engaging space to calculated carry out the solution in final engaging space that integration obtains.

Subsequently, controller 540B sends the anglec of rotation q of the expectation in each joint of being calculated by redundancy range site 546B to servo controller 550B (operation 770).

Then, servo controller 550B calculates the engage torque τ of the anglec of rotation of the expectation in the joint of the redundancy range site 546B transmission in following controller 540B, and produces the moment of torsion control signal corresponding with calculated engage torque τ (operation 780).

Subsequently, servo controller 550B sends produced moment of torsion control signal to the driver element 560B (operation 790) in each joint of the each instrument for driving rotatably composition hold-down arm 504L, guiding tube 512, multiple instrument 514a, 514b and 514c.

By this process, can utilize the redundancy of anthropomorphic robot 500B realize various independent targets (expand instrument work space, make the required rigidity in each joint of instrument minimize, make the collision between instrument and peripheral obstacle minimizing possibility, make the required degree of freedom of instrument minimize and carry out complicated task), and, also can control integratedly the operation of the parts (hold-down arm, guiding tube and multiple instrument) of anthropomorphic robot 500A simultaneously.

In the above-described embodiment, operating robot or anthropomorphic robot as the robot with multiple instruments are described.But the present invention also can be applied to multiple instruments from the various robot systems of guiding tube fork.

As mentioned above, according to the robot of one or more embodiment of the present invention with control in the method for this robot, a kind of robot comprises hold-down arm, guiding tube and multiple instrument, guiding tube is installed on hold-down arm, described multiple instrument has end-effector and diverges from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the work space of described multiple instruments can be extended, and those tasks that cannot be realized by traditional instrument control method can be performed.

According to the robot of one or more embodiment of the present invention with control in the method for this robot, a kind of robot comprises hold-down arm, guiding tube and multiple instrument, described guiding tube is installed on hold-down arm, described multiple instrument has end-effector and diverges from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the required rigidity in joint of instrument can be minimized, and the probability of colliding between instrument and peripheral obstacle can be minimized.

According to the robot of one or more embodiment of the present invention with control in the method for this robot, a kind of robot comprises hold-down arm, guiding tube and multiple instrument, guiding tube is installed on hold-down arm, multiple instruments have end-effector and diverge from guiding tube, described robot control hold-down arm, guiding tube and multiple instrument operate time interlocked with one another, utilize due to near-end (, hold-down arm and guiding tube) degree of freedom produce redundancy, therefore, the required degree of freedom of instrument can be minimized, and those complex tasks that cannot be carried out by traditional instrument control method can be performed.

Although illustrated and described some embodiments of the present invention, it will be understood by those skilled in the art that the scope in the case of not departing from the principle of the present invention that is defined by the claims and spirit, can change these embodiments.

Claims

1. a robot, comprising:

Many tool models, comprise guiding tube and multiple instrument, and described multiple instruments operate time interlocked with one another with guiding tube and from guiding tube fork, described many tool models have redundancy;

Controller, the movement instruction information of the end based on about described multiple instruments in work space and produce the control signal of the motion in engaging space about described many tool models,

Wherein, the quantity of the degree of freedom of the described many tool models of redundancy reaction in engaging space is greater than the quantity of the degree of freedom of described many tool models in work space, and described control signal utilizes redundancy to produce.

2. robot according to claim 1, wherein, each in described guiding tube and multiple instrument includes multiple connectors and multiple joint, and on the end of described multiple instruments, end-effector is installed.

3. robot according to claim 1, wherein, controller calculates the corresponding Jacobian matrix of movement instruction information in work space with end about described multiple instruments, and controller utilizes the movement instruction information of the end of redundancy based on about described multiple instruments in work space and the Jacobian matrix that calculates and produce the control signal of the motion in engaging space about described many tool models.

4. robot according to claim 3, wherein, in the time producing described control signal, controller calculates the object function of described robot, and described object function is expressed as the weighted sum of multiple individual goal functions.

5. robot according to claim 4, wherein, each in described multiple individual goal functions comprises each instrument and the inverse that engages the distance between the limit.

6. robot according to claim 4, wherein, each in described multiple individual goal functions comprises the inverse of the distance between each instrument and single posture.

7. robot according to claim 4, wherein, each in described multiple individual goal functions comprises engage torque quadratic sum.

8. robot according to claim 4, wherein, each in described multiple individual goal functions comprises the inverse of the distance between each instrument and peripheral obstacle.

9. robot according to claim 4, wherein, controller is created in the control signal of the motion in the engaging space of the optimised or local optimum of object function about calculated robot.

10. robot according to claim 4, wherein, described robot also comprises memory element, in described memory element, has stored: calculate the required algorithm of Jacobian matrix and about information, the calculating target function of the kinematic structure of robot required for the type of the task of realizing the multiple independent object function of multiple independent targets and carry out according to robot and the weight that object function multiplies each other separately.

11. robots according to claim 1, wherein, in the time that the movement instruction information of the end to about multiple instruments in engaging space arranges priority, controller calculates in the work space Jacobian matrix corresponding with the movement instruction information with relative high priority and in work space and have a corresponding Jacobian matrix of the movement instruction information of relatively low priority, and controller utilizes the movement instruction information of redundancy based on be set up priority in work space to produce the control signal of the motion in engaging space about described many tool models with the Jacobian matrix calculating.

12. robots according to claim 11, wherein, in the time that described control signal produces, controller calculates the object function of described robot, and described object function is expressed as the weighted sum of multiple independent object functions.

13. robots according to claim 12, wherein, controller produces the control signal about the motion in the engaging space of or local optimum optimised at the object function of calculated robot.

14. robots according to claim 12, wherein, described robot also comprises memory element, in described memory element, has stored: the priority of the movement instruction information setting to the end about multiple instruments in work space, calculate the required algorithm of Jacobian matrix and about information, the calculating target function of the kinematic structure of robot required for realizing multiple individual goal functions of target and the type of the task of carrying out according to robot and the weight that individual goal function multiplies each other of multiple individualities.

The method of 15. 1 kinds of controls, described robot comprises many tool models with guiding tube and multiple instruments, described multiple instrument operates time interlocked with one another with guiding tube and from guiding tube fork, described many tool models have redundancy, and described method comprises:

Produce the movement instruction information in work space about the end of described multiple instruments;

The movement instruction information of end based on about described multiple instruments in work space and produce the control signal of the motion in engaging space about described many tool models,

16. methods according to claim 15, wherein, each in described guiding tube and multiple instrument includes multiple connectors and multiple joint, and on the end of described multiple instruments, end-effector is installed.

17. methods according to claim 15, wherein, producing the control signal of the motion in engaging space about described many tool models comprises: calculate the corresponding Jacobian matrix of the movement instruction information in work space with end about described multiple instruments, utilize the movement instruction information of the end of redundancy based on about described multiple instruments in work space to produce the control signal of the motion in engaging space about described many tool models with the Jacobian matrix calculating.

18. methods according to claim 17, wherein, the control signal that produces the motion in engaging space about described many tool models comprises: calculating robot's object function; Produce the control signal about the motion in the engaging space of or local optimum optimised at the object function of calculated robot.

19. methods according to claim 18, wherein, described object function is expressed as the weighted sum of multiple individual goal functions.